From 055e96fb4f8609cf362ce2a5b52f598924f80347 Mon Sep 17 00:00:00 2001
From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Sat, 21 Feb 2026 14:43:30 -0800
Subject: [PATCH] Update PS5ControllerDriverConfig.java

---
 .../java/frc/robot/controls/PS5ControllerDriverConfig.java   | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index 61b6d17..4527288 100644
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -87,12 +87,15 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
                 reverseMotors.schedule();
             })
             ).onFalse(new InstantCommand(()->{
-                reverseMotors.cancel();
+                if(reverseMotors != null){
+                    reverseMotors.cancel();
+                }
             }));
         }
 
         // Intake
         if (intake != null) {
+            // Toggle intake
             driver.get(PS5Button.RIGHT_TRIGGER).onTrue(new InstantCommand(() -> {
                 if (intakeBoolean) {
                     intake.extend();
-- 
2.39.5