Fix Align Encoders trigger silently doing nothing - #194
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…dings Move the "Triggers/Align Encoders" NT trigger into Drive itself, requiring the Drive subsystem and resetting the boolean back to false once the encoders are zeroed, matching Biocore. Root cause of it silently doing nothing: ControllerSelector.scan() cleared the CommandScheduler's shared default button loop to rebind controls on every rescan, which wiped out any other Trigger (like Align Encoders) registered on that same shared loop. ControllerSelector now owns a private EventLoop for its own bindings, polled explicitly from robotPeriodic(), so rescanning never touches Triggers registered elsewhere. Ported from Biocore commit 0b07ed7. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
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Summary
Triggers/Align EncodersNT trigger fromRobot.javaintoDrive.java, requiring theDrivesubsystem and resetting the boolean back tofalseafter zeroing, matching Biocore's implementation.ControllerSelector.scan()calledCommandScheduler.getInstance().getDefaultButtonLoop().clear()to rebind controller controls, which silently wiped out anyTriggerregistered on that shared default loop beforeControllerSelectorran — including Align Encoders.ControllerSelectornow owns a privateEventLoopfor its own bindings, polled explicitly fromrobotPeriodic(), so re-scanning never touches Triggers registered elsewhere. Ported from Biocore commit0b07ed7.Test plan
./gradlew compileJava compileTestJavapasses cleanTriggers/Align Encoderstotruein Glass actually zeros the swerve encoders and the boolean pops back tofalse🤖 Generated with Claude Code