From 2c35e4dc52924fbc6b855941873fdd53b79aa569 Mon Sep 17 00:00:00 2001
From: owenflatman <owenjflatman@gmail.com>
Date: Fri, 27 Sep 2024 09:31:55 -0500
Subject: [PATCH] add trigger to go home

---
 src/main/java/frc/robot/RobotContainer.java | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 6147a6b7..1456e611 100755
--- 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(
             //