button bindings

Author: ryanknj5

src/main/java/frc/robot/Robot.java

@@ -156,7 +156,11 @@ private void configureBindings() {
               }
             }));
 
-    hardware.driverController.rightTrigger().onTrue(robotCommands.confirmShotCommand());
+    hardware
+        .driverController
+        .rightTrigger()
+        .onTrue(robotCommands.confirmShotCommand())
+        .onFalse(robotCommands.stopShootingCommand());
     hardware.driverController.leftTrigger().onTrue(robotCommands.intakeCommand());
 
     hardware
@@ -178,7 +182,7 @@ private void configureBindings() {
         .driverController
         .x()
         // TODO:snap
-        .onFalse(robotCommands.waitSubwooferCommand());
+        .onTrue(robotCommands.waitSubwooferCommand());
     hardware.driverController.b().onTrue(robotCommands.waitAmpCommand());
 
     hardware.driverController.a().onTrue(robotCommands.stowCommand());

src/main/java/frc/robot/robot_manager/RobotCommands.java

@@ -51,18 +51,15 @@ public Command stopIntakingCommand() {
   }
 
   public Command waitSubwooferCommand() {
-    return Commands.runOnce(robot::waitSubwooferRequest, requirements)
-        .andThen(robot.waitForState(RobotState.SUBWOOFER_WAITING));
+    return Commands.runOnce(robot::waitSubwooferRequest, requirements);
   }
 
   public Command waitAmpCommand() {
-    return Commands.runOnce(robot::waitAmpRequest, requirements)
-        .andThen(robot.waitForState(RobotState.AMP_WAITING));
+    return Commands.runOnce(robot::waitAmpRequest, requirements);
   }
 
   public Command waitSpeakerCommand() {
-    return Commands.runOnce(robot::waitSpeakerRequest, requirements)
-        .andThen(robot.waitForState(RobotState.SPEAKER_WAITING));
+    return Commands.runOnce(robot::waitSpeakerRequest, requirements);
   }
 
   public Command confirmShotCommand() {
@@ -86,8 +83,7 @@ public Command feedingCommand() {
   }
 
   public Command waitFeedingCommand() {
-    return Commands.runOnce(robot::waitFeedRequest, requirements)
-        .andThen(robot.waitForState(RobotState.FEEDING_WAITING));
+    return Commands.runOnce(robot::waitFeedRequest, requirements);
   }
 
   public Command subwooferCommand() {

src/main/java/frc/robot/robot_manager/RobotManager.java

@@ -73,11 +73,8 @@ protected RobotState getNextState(RobotState currentState) {
           queuer.hasNote() ? currentState : RobotState.IDLE_NO_GP;
 
       case SPEAKER_PREPARE_TO_SCORE ->
-          (shooter.atGoal() && arm.atGoal() && DriverStation.isTeleop() == false)
-                  || (DriverStation.isTeleop()
-                      && confirmShotActive == true
-                      && shooter.atGoal()
-                      && arm.atGoal())
+          (shooter.atGoal() && arm.atGoal())
+                  && (DriverStation.isAutonomous() || confirmShotActive == true)
               ? RobotState.SPEAKER_SCORING
               : currentState;
 
@@ -241,6 +238,7 @@ public void setConfirmShotActive(boolean newValue) {
   }
 
   public void confirmShotRequest() {
+    setConfirmShotActive(true);
     switch (getState()) {
       case CLIMBING_1_LINEUP, CLIMBING_2_HANGING -> {}
 
@@ -284,9 +282,7 @@ public void intakeRequest() {
     switch (getState()) {
       case CLIMBING_1_LINEUP, CLIMBING_2_HANGING -> {}
       case IDLE_WITH_GP -> {
-        if (!queuer.hasNote()) {
-          setStateFromRequest(RobotState.INTAKING);
-        }
+        setStateFromRequest(RobotState.INTAKING);
       }
       default -> setStateFromRequest(RobotState.INTAKING);
     }
@@ -332,6 +328,7 @@ public void stowRequest() {
           setStateFromRequest(RobotState.IDLE_WITH_GP);
       default -> setStateFromRequest(RobotState.IDLE_NO_GP);
     }
+    setConfirmShotActive(false);
   }
 
   public void preparePassRequest() {
@@ -399,6 +396,7 @@ public void stopShootingRequest() {
 
       default -> setStateFromRequest(RobotState.IDLE_WITH_GP);
     }
+    setConfirmShotActive(false);
   }
 
   public void prepareSubwooferRequest() {