update trigger

FRCTeam3255 · Nov 25, 2024 · 8fb6464 · 8fb6464
1 parent 9ef10b2
commit 8fb6464
Showing 1 changed file with 12 additions and 8 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -35,6 +35,7 @@ public class RobotContainer {
       m_driverController.axis_LeftY, m_driverController.btn_LeftBumper);
 
   private final Trigger hasGamePieceTrigger = new Trigger(subStager::getHasGP);
+  private final Trigger isGPDetectedTrigger = new Trigger(subHopper::getGamePieceHopper);
 
   // Drive
   public RobotContainer() {
@@ -50,7 +51,7 @@ private void configureBindings() {
         .whileTrue(Commands.deferredProxy(
             () -> subStateMachine.tryState(RobotState.INTAKE_GROUND)))
         .onFalse(Commands.deferredProxy(
-            () -> subStateMachine.tryState(RobotState.HAS_GP))
+            () -> subStateMachine.tryState(RobotState.NONE))
             .unless(hasGamePieceTrigger));
 
     // PrepShooter
@@ -59,11 +60,9 @@ private void configureBindings() {
             () -> subStateMachine.tryState(RobotState.PREP_SHOOTER)));
 
     // IntakeHopper
-    m_driverController.btn_B
-        .whileTrue(Commands.deferredProxy(
-            () -> subStateMachine.tryState(RobotState.INTAKE_HOPPER)))
-        .onFalse(Commands.deferredProxy(
-            () -> subStateMachine.tryState(RobotState.NONE)));
+    isGPDetectedTrigger
+        .onTrue(Commands.deferredProxy(
+            () -> subStateMachine.tryState(RobotState.INTAKE_HOPPER)));
 
     // EjectShooter
     m_driverController.btn_RightBumper
@@ -89,10 +88,15 @@ private void configureBindings() {
 
     // prepShooter -> hasGP
     if (subStateMachine.getState() == RobotState.PREP_SHOOTER) {
-        m_driverController.btn_X
+      m_driverController.btn_North
+          .onTrue(Commands.deferredProxy(
+              () -> subStateMachine.tryState(RobotState.HAS_GP)));
+    }
+
+    // hasGP
+    hasGamePieceTrigger
         .onTrue(Commands.deferredProxy(
             () -> subStateMachine.tryState(RobotState.HAS_GP)));
-    }
 
   }