update triggers

src/main/java/frc/robot/RobotContainer.java

@@ -241,9 +241,9 @@ private void configureButtonBindings() {
         operator.rightTrigger().and(operator.leftTrigger()).whileTrue(intake.runIndexerMotor(1));
         // set shooter to home preset position
         operator.y().onTrue(elevatorWrist.homePosition());
-        operator.y().and(elevatorWrist.elevatorAtAmp).and(noteInIndexer)
+        operator.y().and(elevatorWrist.elevatorAtAmp).and(intake.noteInIndexer)
             .onTrue(intake.runIntakeMotorNonStop(0, -0.2).withTimeout(2.0)
-                .until(new Trigger(() -> !this.intake.getIndexerBeamBrakeStatus()).debounce(.5)));
+                .until(intake.noteNotInIndexer.debounce(.5)));
 
         // increment once through states list to next state
         operator.povRight().onTrue(Commands.runOnce(() -> {
@@ -253,8 +253,7 @@ private void configureButtonBindings() {
         operator.povLeft().onTrue(Commands.runOnce(() -> {
             OperatorState.decrement();
         }).ignoringDisable(true));
-        new Trigger(() -> OperatorState.getCurrentState() == OperatorState.State.kAmp)
-            .and(new Trigger(() -> !this.intake.getIndexerBeamBrakeStatus()).debounce(1.0))
+        OperatorState.isAmpMode.and(intake.noteNotInIndexer.debounce(1.0))
             .onTrue(elevatorWrist.homePosition());
         // run action based on current state as incremented through operator states list
         operator.a().and(OperatorState.isSpeakerMode).whileTrue(elevatorWrist.speakerPreset());

src/main/java/frc/robot/subsystems/intake/Intake.java

@@ -28,6 +28,7 @@ public class Intake extends SubsystemBase {
 
     public Trigger noteInIndexer = new Trigger(() -> getIndexerBeamBrakeStatus()).debounce(0.25,
         Debouncer.DebounceType.kRising);
+    public Trigger noteNotInIndexer = new Trigger(() -> !getIndexerBeamBrakeStatus());
     public Trigger noteInIntake = new Trigger(() -> getintakeBeamBrakeStatus()).debounce(0.25,
         Debouncer.DebounceType.kRising);
     public Trigger intakeActive = new Trigger(() -> getIntakeRPM() > 0);