add trigger to go home

Frc5572 · Sep 27, 2024 · 2c35e4d · 2c35e4d
1 parent 7458b7c
commit 2c35e4d
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -237,6 +237,8 @@ private void configureButtonBindings() {
         operator.povLeft().onTrue(Commands.runOnce(() -> {
             OperatorState.decrement();
         }).ignoringDisable(true));
+        new Trigger(() -> OperatorState.getCurrentState() == OperatorState.State.kAmp)
+            .and(noteInIndexer.negate()).debounce(1.0).onTrue(elevatorWrist.homePosition());
         // run action based on current state as incremented through operator states list
         operator.a().whileTrue(new SelectCommand<OperatorState.State>(Map.of(
             //