From 71e32832e6a3c3ffc7fd30d2ee8ffc8edb2d598e Mon Sep 17 00:00:00 2001
From: Huck-Richardson <huck.richardson@gmail.com>
Date: Thu, 27 Feb 2025 20:11:59 -0500
Subject: [PATCH] Fixed some edge cases

---
 .../frc/robot/subsystems/robotState/RobotStateSubsystem.java   | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/main/java/frc/robot/subsystems/robotState/RobotStateSubsystem.java b/src/main/java/frc/robot/subsystems/robotState/RobotStateSubsystem.java
index d0313e81..a1630063 100644
--- 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);