prevent coral gripper from damage at upper end of lifter travel (#92)

Author: nlaverdure

src/main/java/frc/lib/AutoSelector.java

@@ -95,9 +95,7 @@ private boolean updateAuto() {
   /**
    * @return Object for binding a command to a change in autonomous mode selection
    */
-  public Trigger getChangedAutoSelection() {
-    return autoSelectionChanged.castTo(Trigger::new);
-  }
+  public Trigger changedAutoSelection = autoSelectionChanged.castTo(Trigger::new);
 
   /** Schedules the command corresponding to the selected autonomous mode */
   public void scheduleAuto() {

src/main/java/frc/robot/Robot.java

@@ -277,7 +277,8 @@ private void configureOperatorButtonBindings() {
   // spotless:on
 
   private void configureEventBindings() {
-    autoSelector.getChangedAutoSelection().onTrue(leds.createChangeAutoAnimationCommand());
+    autoSelector.changedAutoSelection.onTrue(leds.createChangeAutoAnimationCommand());
+    lifter.impendingCoralGripperDamage.onTrue(coralWrist.createSetAngleCommand(CoralWristState.L1));
   }
 
   private void configureAutoOptions() {

src/main/java/frc/robot/elevator/ElevatorConstants.java

@@ -58,7 +58,7 @@ public static enum LifterState {
       Processor(12.0),
       AlgaeL2(30),
       AlgaeL3(46.5),
-      Max(30.00);
+      Max(52.0);
 
       public Distance height;
 

src/main/java/frc/robot/elevator/Lifter.java

@@ -139,6 +139,8 @@ public Boolean inState(LifterState state) {
   }
 
   public Trigger atIntakingHeight = new Trigger(() -> inState(LifterState.Intake));
+  public Trigger impendingCoralGripperDamage =
+      new Trigger(() -> getHeight().gt(LifterState.L3.height.plus(Inches.of(2.0))));
 
   private void resetEncoder() {
     encoder.setPosition(LifterState.Reset.height.in(Inches));