Fixed some edge cases

Huck-Richardson · Huck-Richardson · commit 71e32832e6a3 · 2025-02-27T20:11:59.000-05:00
diff --git a/src/main/java/frc/robot/subsystems/robotState/RobotStateSubsystem.java b/src/main/java/frc/robot/subsystems/robotState/RobotStateSubsystem.java
@@ -296,6 +296,9 @@ public void toReefAlign() {
   }
 
   private void toReefAlign(boolean getAlgae, boolean drive) {
+    if ((hasAlgae() && scoreSide == ScoreSide.RIGHT && drive) || (hasAlgae() && !hasCoral())) {
+      setState(RobotStates.STOW);
+    }
     if (drive) {
       tagAlignSubsystem.start(allianceColor, scoreSide == ScoreSide.LEFT);
       setState(RobotStates.REEF_ALIGN);

Original file line number	Diff line number	Diff line change
`@@ -296,6 +296,9 @@ public void toReefAlign() {`
`296`	`296`	`}`
`297`	`297`
`298`	`298`	`private void toReefAlign(boolean getAlgae, boolean drive) {`
	`299`	`+ if ((hasAlgae() && scoreSide == ScoreSide.RIGHT && drive) \|\| (hasAlgae() && !hasCoral())) {`
	`300`	`+ setState(RobotStates.STOW);`
	`301`	`+ }`
`299`	`302`	`if (drive) {`
`300`	`303`	`tagAlignSubsystem.start(allianceColor, scoreSide == ScoreSide.LEFT);`
`301`	`304`	`setState(RobotStates.REEF_ALIGN);`