[lukevanoort]

I dunno if this is causing the problem, but I'd put in a little time delay before it can switch states, because, as coded, if you held the trigger down too long the system would 'flicker' between the two states.

I have no experience with WPIlib, so I do not know if this could be the issue, but you don't set the relay to zero in your second if statement, so I would think it might just stay at that value set earlier. Again, I have no experience with WPIlib, so I don't know if this could be the issue.