Merge branch 'robot-state-reef' into robot-constants

Author: mwitcpalek

src/main/java/frc/robot/subsystems/robotState/RobotStateSubsystem.java

@@ -334,6 +334,9 @@ public void toReefAlign() {
 
   private void toReefAlign(boolean getAlgae, boolean drive) {
     boolean wantAlgae = getAlgae || !coralSubsystem.hasCoral();
+    if ((hasAlgae() && scoreSide == ScoreSide.RIGHT && drive) || (hasAlgae() && !hasCoral())) {
+      setState(RobotStates.STOW);
+    }
     if (drive) {
       tagAlignSubsystem.start(
           allianceColor,