From e7f6f92cafe2b00731c39bc805f0d427a672a490 Mon Sep 17 00:00:00 2001
From: Marcus Flusche <fluschemarcus@gmail.com>
Date: Mon, 20 Jan 2025 12:34:33 -0500
Subject: [PATCH] Started transitions between states

---
 .../frc/robot/statemachine/StateMachine.java  | 24 ++++++++++++++++---
 1 file changed, 21 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/statemachine/StateMachine.java b/src/main/java/frc/robot/statemachine/StateMachine.java
index fe7a5f5..c95f35f 100644
--- a/src/main/java/frc/robot/statemachine/StateMachine.java
+++ b/src/main/java/frc/robot/statemachine/StateMachine.java
@@ -65,9 +65,6 @@ public StateMachine(CommandXboxController driverController, CommandXboxControlle
                                 .withChild(goToIntake)
                                 .withChild(intakeGamePiece);
 
-                // Example, will be button board later
-                manual.withTransition(scoreGamePiece, () -> false, "Example");
-
                 // Children inside children
                 goToScoringPosition.withChild(goToScoreCoral)
                                 .withChild(goToScoreAlgae);
@@ -88,6 +85,27 @@ public StateMachine(CommandXboxController driverController, CommandXboxControlle
                 scoreAlgae.withChild(scoreAlgaeNet)
                                 .withChild(scoreAlgaeProcessor);
 
+                // Example, will be button board later
+                manual.withTransition(goToScoringPosition, () -> false, "Driver presses score")
+                                .withTransition(goToIntake, () -> false, "Driver presses intake");
+
+                goToScoringPosition.withTransition(scoreGamePiece, () -> false, "Close to scoring location")
+                                .withTransition(manual, () -> false, "Score button released");
+
+                scoreGamePiece.withTransition(goToScoringPosition, () -> false, "Scoring location changed")
+                                .withTransition(manual, () -> false, "Score button released")
+                                .withTransition(manual, () -> false, "No game piece in robot");
+
+                goToIntake.withTransition(intakeGamePiece, () -> false, "Close to intake location")
+                                .withTransition(manual, () -> false, "Intake button released");
+
+                intakeGamePiece.withTransition(goToIntake, () -> false, "Intake location changed")
+                                .withTransition(manual, () -> false, "Intake button released");
+
+                intakeCoral.withTransition(manual, () -> false, "Has coral");
+
+                intakeAlgae.withTransition(manual, () -> false, "Has algae");
+
                 // Auto
                 auto.withModeTransitions(disabled, teleop, auto, test);