Set flipped to boolean and simplified optionals.

src/main/deploy/pathplanner/paths/New Path.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 5.484375,
+        "y": 5.550107020547944
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.484375000000002,
+        "y": 5.550107020547944
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 6.0
+      },
+      "prevControl": {
+        "x": 3.0,
+        "y": 6.0
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

src/main/java/frc/robot/OperatorPanel.java

@@ -3,7 +3,6 @@
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
-import frc.robot.OperatorState.ScoringSide;
 import frc.robot.commands.AcquireAlgaeCommand;
 import frc.robot.commands.AcquireCoralCommand;
 import frc.robot.commands.DisposeAlgaeCommand;
@@ -47,7 +46,7 @@ private OperatorPanel() {
         super(IOConstants.kOperatorPanelPort);
         this.operatorState = OperatorState.getInstance();
         operatorState.setLastInput(AcquisitionPositionSetpoint.Storage);
-        operatorState.setScoringSide(coralPosScoringSwitch.getAsBoolean() ? ScoringSide.LEFT : ScoringSide.RIGHT);
+        operatorState.setScoringFlipped(coralPosScoringSwitch.getAsBoolean());
 
         this.acquireButton.and(operatorState::isCoral).whileTrue(new AcquireCoralCommand());
         this.acquireButton.and(operatorState::isAlgae).whileTrue(new AcquireAlgaeCommand());
@@ -72,8 +71,8 @@ private OperatorPanel() {
         this.feederButton.onTrue(
                 new InstantCommand(() -> operatorState.setLastInput(AcquisitionPositionSetpoint.FeederStation)));
         this.coralPosScoringSwitch
-                .onTrue(new InstantCommand(() -> operatorState.setScoringSide(ScoringSide.LEFT)))
-                .onFalse(new InstantCommand(() -> operatorState.setScoringSide(ScoringSide.RIGHT)));
+                .onTrue(new InstantCommand(() -> operatorState.setScoringFlipped(false)))
+                .onFalse(new InstantCommand(() -> operatorState.setScoringFlipped(true)));
     }
 
     // Singleton Setup

src/main/java/frc/robot/OperatorState.java

@@ -4,11 +4,7 @@
 
 public class OperatorState {
     private static AcquisitionPositionSetpoint lastInput;
-    private static ScoringSide scoringSide;
-
-    public enum ScoringSide {
-        LEFT, RIGHT;
-    }
+    private static boolean scoringFlipped;
 
     private OperatorState() {
         lastInput = AcquisitionPositionSetpoint.Storage;
@@ -54,14 +50,14 @@ public boolean isAlgae() {
     }
 
     public void setLastInput(AcquisitionPositionSetpoint lastInput) {
-        this.lastInput = lastInput;
+        OperatorState.lastInput = lastInput;
     }
 
-    public void setScoringSide(ScoringSide scoringSide) {
-        OperatorState.scoringSide = scoringSide;
+    public void setScoringFlipped(boolean scoringFlipped) {
+        OperatorState.scoringFlipped = scoringFlipped;
     }
 
-    public static ScoringSide getScoringSide() {
-        return scoringSide;
+    public static boolean isScoringFlipped() {
+        return scoringFlipped;
     }
 }