Yes, you will be brave enough next time, because you are reflecting on it now and can use it as a great learning experience. But no one’s sure when that next time will happen, so if you want to capitalize on your desire to help, why not go buy a huge bunch of things the food shelter needs (they’ll give you a list if you ask them), then spend a few hours sorting it and other donations? Going hungry is one of the worst things, and your donations of time and food will always be appreciated by many others.