From 1d36b14573d59870a32b0c5b0f8c2f7448941969 Mon Sep 17 00:00:00 2001
From: Lithiuman <lithiumxn@gmail.com>
Date: Fri, 31 May 2024 08:01:35 -0500
Subject: [PATCH] Remove possible pathfinding on CD Controller

---
 src/main/java/frc/robot/RobotContainer.java | 11 ++++-------
 1 file changed, 4 insertions(+), 7 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index e3ea848..d182bba 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -306,13 +306,10 @@ private void configureDriverController() {
   }
 
   private void configureCoDriverController() {
-    CO_DRIVER_CONTROLLER
-        .back()
-        .onTrue(
-            Util.pathfindToPose(Util.getAllianceAmp())
-                .andThen(
-                    new PrepRevAmp(ELEVATOR, WRIST)
-                        .andThen(new InstantCommand(() -> isAmpPrepped = true))));
+
+    // CO_DRIVER_CONTROLLER
+    //     .leftBumper()
+    //     .onTrue(Util.pathfindToPose(Util.findNearestPoseToTrapClimbs(getPose())));
     CO_DRIVER_CONTROLLER.start().onTrue(new StopAll(WRIST, SHOOTER, INTAKE, ELEVATOR));
     CO_DRIVER_CONTROLLER.rightBumper().onTrue(new PoopNote(SHOOTER, 2500));