added stage-align binding

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

@@ -268,7 +268,7 @@ private void configureBindings() {
         /* Shooter Aim -- Holding down the button will change the shooter's pitch to aim it at the speaker. */
         // drive
 
-        /* Amp Align -- Pressing and holding the button will cause the robot to automatically path find to the amp.
+        /* Amp Align -- Pressing and holding the button will cause the robot to automatically pathfind to the amp.
          * Releasing the button will stop the robot (and the path finding). */
         driveController.getAmpAlign().onTrue(new InstantCommand(
             () -> lightBarSubsystem.setLightBarStatus(LightBarStatus.AUTO_ALIGN, 1)
@@ -279,6 +279,13 @@ private void configureBindings() {
                     ).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(
             new NoteAlignCommand(swerveSubsystem, noteDetector, driveController)

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;
+    }
 }