Bindings & Triggers

Map controller inputs (or conditions) to commands with Triggers.

Example

var driver = new CommandXboxController(0);

driver.a().onTrue(arm.reef());
driver.b().whileTrue(intake.percent(() -> -0.8));
driver.x().onTrue(elevator.l2());
driver.y().onTrue(Commands.parallel(elevator.l3(), arm.reef()));

// Conditional trigger (e.g., only if aligned)
new Trigger(() -> vision.hasTag()).onTrue(autoAlign());

Tips

• Use .whileTrue() for actions that must stop when released
• Use .debounce() for noisy digital inputs
• Consider command groups for macros