added stage-align binding

src/main/java/frc/robot/RobotContainer.java

@@ -290,10 +290,17 @@ private void configureBindings() {
         //         AlignCommand.getAmpAlignCommand(swerveSubsystem, fmsSubsystem.isRedAlliance()),
         //         new ConditionalWaitCommand(
         //             () -> !driveController.getAmpAlign().getAsBoolean()))
-        //      ).andThen(new InstantCommand(() -> lightBarSubsystem.setLightBarStatus(LightBarStatus.DORMANT, 1)))
+        //             ).andThen(
+        //                 new InstantCommand(() -> lightBarSubsystem.setLightBarStatus(LightBarStatus.DORMANT, 1))
+        //             )
         // );
 
-
+        /* Stage Align -- Pressing and holding the button will cause the robot to automatically pathfind such that its
+         * climb hooks will end up directly above the center of the nearest chain. */
+        driveController.getStageAlignButton().onTrue(
+            AlignCommand.getAmpAlignCommand(swerveSubsystem, fmsSubsystem.isRedAlliance())
+                .onlyWhile(driveController.getStageAlignButton())
+        );
 
         /* Note align -- deprecated, new version in the works*/
         driveController.getNoteAlign().onTrue(

src/main/java/frc/robot/controllers/BaseDriveController.java

@@ -88,4 +88,7 @@ public abstract class BaseDriveController {
      * Gets the button to aim the shooter at the speaker.
      */
     public abstract JoystickButton getShooterAimButton();
+
+    /** Returns the button to auto-align to the nearest stage face. */
+    public abstract JoystickButton getStageAlignButton();
 }

src/main/java/frc/robot/controllers/DualJoystickDriveController.java

@@ -15,6 +15,7 @@ public class DualJoystickDriveController extends BaseDriveController {
     private final JoystickButton leftMiddleButton = new JoystickButton(leftJoystick, 2);
     private final JoystickButton leftTopLeftButton = new JoystickButton(leftJoystick, 3);
     private final JoystickButton leftTopRightButton = new JoystickButton(leftJoystick, 4);
+    private final JoystickButton leftBottomLeftButton = new JoystickButton(leftJoystick, 5);
 
     private final Joystick rightJoystick = new Joystick(1);
     private final JoystickButton rightTrigger = new JoystickButton(rightJoystick, 1);
@@ -100,5 +101,10 @@ public Boolean getSwerveAimMode() {
     @Override
     public JoystickButton getShooterAimButton() {
         return leftTopRightButton;
-    }   
+    }
+
+    @Override
+    public JoystickButton getStageAlignButton() {
+        return leftBottomLeftButton;
+    }
 }   

src/main/java/frc/robot/controllers/XboxDriveController.java

@@ -21,6 +21,9 @@ public class XboxDriveController extends BaseDriveController {
     private final JoystickButton driveLStickButton = new JoystickButton(
         driveController, XboxController.Button.kLeftStick.value
     );
+    private final JoystickButton driveRStickButton = new JoystickButton(
+        driveController, XboxController.Button.kRightStick.value
+    );
 
     @Override
     public double getForwardPower() {
@@ -77,7 +80,13 @@ public Boolean getSwerveAimMode() {
         return driveLStickButton.getAsBoolean();
     }
 
-    public JoystickButton getShooterAimButton(){
+    @Override
+    public JoystickButton getShooterAimButton() {
         return driveLStickButton;
     }
+
+    @Override
+    public JoystickButton getStageAlignButton() {
+        return  driveRStickButton;
+    }
 }