simplify if statement

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

@@ -315,90 +315,7 @@ public void teleopPeriodic() {
       autoAlignment.setNearestValues();
     }
 
-    // If the driver hits the start/back button, reset the ROTATION of the bot
-    // to assume that it is directly facing the driver.
-    // This is used in dire situations where we don't want to go as far as to find a tag to align to, 
-    // but something happened at some point which heavily messed up our alignment with the field
-    // For obvious reasons, this should only be used when the robot is facing the driver
-    if (driver.getStartButtonPressed() || driver.getBackButtonPressed()) {
-        // When the robot is facing the red alliance driver station, 
-        // it is considered to be at 0 degrees
-        swerve.resetOdometry(
-            new Pose2d(
-                swerve.getPose().getTranslation(), 
-                Rotation2d.fromDegrees(
-                    FieldConstants.ALLIANCE == Alliance.Red 
-                    ? 0 
-                    : 180))
-        );
-    }
-
-    // When not aligning, reset the max speed to the teleop speed
-    if (driver.getAButtonReleased()) {
-      DriveConstants.MAX_SPEED_METERS_PER_SECOND = DriveConstants.MAX_TELEOP_SPEED_METERS_PER_SECOND;
-      SwerveTrajectory.resetTrajectoryStatus();
-      SwerveTrajectory.HDC.getThetaController().reset(swerve.getYaw().getRadians());
-      //autoAlignment.setConeOffset(AutoAlignment.coneMode ? 1 : 0);
-    }
-    else if (driver.getAButton()) {
-
-      if (driver.getAButtonPressed()) {
-        // Slow the drive down for consistency
-        DriveConstants.MAX_SPEED_METERS_PER_SECOND = FieldConstants.ALIGNMENT_SPEED;
-        // This resets the "momentum" of the path
-        SwerveTrajectory.resetTrajectoryStatus();
-        // This resets the "rotational momentum" of the integerals
-        SwerveTrajectory.HDC.getThetaController().reset(swerve.getYaw().getRadians());
-
-      }
-
-      autoAlignment.alignToTag(driverLeftAxis.getY());
-
-    } else if (driver.getRightBumper()) {
-
-      if (driver.getRightBumperPressed()) {
-
-        autoAlignment.startChargePad();
-
-      }
-
-      autoAlignment.chargeAlign();
-
-    // Use the left bumper as a sort of e-stop for the swerve
-    } else if (driver.getLeftBumper()) {
-
-      swerve.setWheelsX();
-
-    } else {
-      // If the driver holds the left stick button, the robot will snap to the nearest 180 degree angle
-      if (driver.getRightStickButton()) {
-        // Reset the integrals at the start of clicking the auto-rotation button
-        if (driver.getRightStickButtonPressed()) {
-          SwerveTrajectory.HDC.getThetaController().reset(swerve.getYaw().getRadians());
-        }
-        autoAlignment.snapToAngle(driverLeftAxis, Rotation2d.fromDegrees(Math.abs(swerve.getYaw().getDegrees()) > 90 ? 180 : 0));
-      }
-      // If the driver holds the Y button, the robot will drive relative to itself
-      // This is useful for driving in a straight line (backwards to intake!)
-      else if (driver.getYButton()) {
-        if (FieldConstants.ALLIANCE == Alliance.Red) {
-          swerve.drive(-driverLeftAxis.getY(), -driverLeftAxis.getX(), -driverRightX * 0.25, false, false);
-        }
-        else {
-          swerve.drive(driverLeftAxis.getY(), driverLeftAxis.getX(), -driverRightX * 0.25, false, false);
-        }
-      }
-      else {
-        // Flip the X and Y inputs to the swerve drive because going forward (up) is positive Y on a controller joystick
-        swerve.drive(driverLeftAxis.getY(), driverLeftAxis.getX(), -driverRightX * 0.25, true, true);
-      }
-    }
-
-    // Toggle the speed to be 10% of max speed when the driver's left stick is pressed
-    if (driver.getLeftStickButtonPressed()) {
-      swerve.toggleSpeed();
-    }
-
+
     // Toggle the operator override when the operator's left stick is pressed
     if (operator.getLeftStickButtonPressed()) {
       arm.toggleOperatorOverride();
@@ -546,10 +463,7 @@ else if (operator.getYButtonPressed() && !AutoAlignment.coneMode) {
 
     // These buttons are right below the Xbox logo, aimed to be a bit out of reach
     // (after all we don't want to accidentally press them)
-    if (operator.getBackButtonPressed()) {
-      arm.setArmIndex(PlacementConstants.ARM_FLIP_INDEX);
-    }
-    else if (operator.getStartButtonPressed()) {
+    if (operator.getBackButtonPressed() || operator.getStartButtonPressed()) {
       arm.setArmIndex(PlacementConstants.ARM_FLIP_INDEX);
     }