Machine-Mavericks / Machine-Mavericks/FRC-2026
RobotContainer: toolOp.leftBumper() is double-bound to conflicting commands
@zokabear is already working on this.
Since Mar 14, 2026.
- Dominant language
- Java
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Description
## Bug: `toolOp.leftBumper()` bound to two conflicting commands
**File:** `src/main/java/frc/robot/RobotContainer.java` lines 159 and 199
```java
// Line 159
toolOp.leftBumper().whileTrue(new ManualTurretControl());
// ...
// Line 199
toolOp.leftBumper().whileTrue(new RunIntakeCommand(intake));
```
`toolOp.leftBumper()` is bound to two different `whileTrue` commands. In WPILib, adding a second trigger binding to the same button does **not** replace the first — both commands will be scheduled simultaneously when the button is held. `ManualTurretControl` and `RunIntakeCommand` will fight over their respective subsystem requirements or run concurrently in unexpected ways.
## Fix
Move one of these to a free button. Currently unbound operator buttons that could be used:
- `toolOp.rightStick()`
- `toolOp.leftStick()`
- The left/right trigger axes (`toolOp.leftTrigger()`)
**Suggestion:** Move `RunIntakeCommand` to `toolOp.leftTrigger(0.5)` and keep `leftBumper` for manual turret override, since that is the more safety-critical binding.
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