more trigger stuff

Frc5572 · Sep 28, 2024 · 289bc9e · 289bc9e
1 parent 60b9389
commit 289bc9e
Showing 1 changed file with 4 additions and 8 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -257,8 +257,8 @@ private void configureButtonBindings() {
             .onTrue(elevatorWrist.homePosition());
         // run action based on current state as incremented through operator states list
         operator.a().and(OperatorState.isSpeakerMode).whileTrue(elevatorWrist.speakerPreset());
-        operator.a().and(OperatorState.isAmpMode).whileTrue(Commands
-            .either(elevatorWrist.ampPosition(), Commands.none(), this.intake.noteInIndexer));
+        operator.a().and(OperatorState.isAmpMode).and(this.intake.noteInIndexer)
+            .whileTrue(elevatorWrist.ampPosition());
         operator.a().and(OperatorState.isShootWhileMoveMode).and(s_Swerve.seeAprilTag)
             .whileTrue(new ShootWhileMoving(s_Swerve, driver, () -> s_Swerve.getPose(),
                 () -> FieldConstants.allianceFlip(FieldConstants.Speaker.centerSpeakerOpening)
@@ -271,12 +271,8 @@ private void configureButtonBindings() {
             .whileTrue(new TurnToAngle(s_Swerve, Rotation2d.fromDegrees(25)).alongWith(elevatorWrist
                 .followPosition(() -> Constants.ElevatorWristConstants.SetPoints.HOME_HEIGHT,
                     () -> Constants.ElevatorWristConstants.SetPoints.PODIUM_ANGLE)));
-        operator.a().and(OperatorState.isClimbMode)
-            .whileTrue(Commands
-                .sequence(elevatorWrist.ampPosition(),
-                    Commands.runOnce(() -> OperatorState.enableManualMode()))
-                .alongWith(new TeleopSwerve(s_Swerve, driver, Constants.Swerve.isFieldRelative,
-                    Constants.Swerve.isOpenLoop)));
+        operator.a().and(OperatorState.isClimbMode).whileTrue(Commands.sequence(
+            elevatorWrist.ampPosition(), Commands.runOnce(() -> OperatorState.enableManualMode())));
 
         // Toggle manual mode
         operator.start().onTrue(Commands.runOnce(() -> {