From: iefomit <timofei.stem@gmail.com>
Date: Sun, 22 Feb 2026 22:38:32 +0000 (-0800)
Subject: update buttons
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=d08ac634a379a159ff41515ce341be688d8e497c;p=FRC2026.git

update buttons
---

diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index f512cd6..d38caa5 100644
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -19,6 +19,7 @@ import frc.robot.subsystems.turret.Turret;
 import frc.robot.subsystems.hood.Hood;
 import frc.robot.subsystems.Intake.Intake;
 import lib.controllers.PS5Controller;
+import lib.controllers.PS5Controller.DPad;
 import lib.controllers.PS5Controller.PS5Axis;
 import lib.controllers.PS5Controller.PS5Button;
 
@@ -73,12 +74,12 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
                 interrupted -> getDrivetrain().setStateDeadband(true),
                 () -> false, getDrivetrain()).withTimeout(2));
 
-        // TrenchAlign - on TRIANGLE button
-        driver.get(PS5Button.TRIANGLE).onTrue(new InstantCommand(() -> getDrivetrain().setTrenchAlign(true)))
+        // Trench align
+        driver.get(DPad.LEFT).onTrue(new InstantCommand(() -> getDrivetrain().setTrenchAlign(true)))
                 .onFalse(new InstantCommand(() -> getDrivetrain().setTrenchAlign(false)));
 
-        // TrenchAssist - on RB button
-        driver.get(PS5Button.RB).onTrue(new InstantCommand(() -> getDrivetrain().setTrenchAssist(true)))
+        // Trench assist
+        driver.get(DPad.RIGHT).onTrue(new InstantCommand(() -> getDrivetrain().setTrenchAssist(true)))
                 .onFalse(new InstantCommand(() -> getDrivetrain().setTrenchAssist(false)));
 
         // Intake
diff --git a/src/main/java/lib/controllers/PS5Controller.java b/src/main/java/lib/controllers/PS5Controller.java
index 8f45a52..3a9e135 100644
--- a/src/main/java/lib/controllers/PS5Controller.java
+++ b/src/main/java/lib/controllers/PS5Controller.java
@@ -43,7 +43,7 @@ public class PS5Controller extends Controller {
         RIGHT_JOY(12),
         PS(13),
         TOUCHPAD(14),
-        MUTE(15);
+        MUTE(15), Dpad;
 
         public final int id;