changed from SendableChooser to AutoChooser (#195)

Author: BrodyKarr

src/main/deploy/elastic-layout.json

@@ -212,7 +212,7 @@
             "height": 136.0,
             "type": "ComboBox Chooser",
             "properties": {
-              "topic": "/SmartDashboard/SendableChooser[1]",
+              "topic": "/SmartDashboard/AutoChooser",
               "period": 0.06,
               "sort_options": false
             }
@@ -225,7 +225,7 @@
             "height": 136.0,
             "type": "Large Text Display",
             "properties": {
-              "topic": "/SmartDashboard/SendableChooser[1]/active",
+              "topic": "/SmartDashboard/AutoChooser/active",
               "period": 0.06,
               "data_type": "string"
             }

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

@@ -9,13 +9,13 @@
 
 import com.frcteam3255.joystick.SN_XboxController;
 
+import choreo.auto.AutoChooser;
 import choreo.auto.AutoFactory;
 import edu.wpi.first.epilogue.Logged;
 import edu.wpi.first.epilogue.NotLogged;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.wpilibj.GenericHID.RumbleType;
 import edu.wpi.first.wpilibj.RobotController;
-import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
@@ -45,7 +45,7 @@
 public class RobotContainer {
 
   @NotLogged
-  SendableChooser<Command> autoChooser = new SendableChooser<>();
+  AutoChooser autoChooser = new AutoChooser();
 
   private AutoFactory autoFactory;
 
@@ -288,12 +288,12 @@ public void configAutos() {
         CleanAndScore("net_ef", "ef_net", TRY_CLEAN_HIGH),
         runPath("net_off_startingline").asProxy()); // FORGOT TO DO AS PROXY ON RUNPATH
 
-    autoChooser.setDefaultOption("4 Coral - Processor Side", procSide4Coral);
-    autoChooser.addOption("4 Coral - Non-Processor Side", nonProcSide4Coral);
-    autoChooser.addOption("1 Coral - Mid", mid1Coral);
-    autoChooser.addOption("1 Algae - Mid", midAlgae);
+    autoChooser.addCmd("4 Coral - Processor Side", () -> procSide4Coral);
+    autoChooser.addCmd("4 Coral - Non-Processor Side", () -> nonProcSide4Coral);
+    autoChooser.addCmd("1 Coral - Mid", () -> mid1Coral);
+    autoChooser.addCmd("1 Algae - Mid", () -> midAlgae);
 
-    SmartDashboard.putData(autoChooser);
+    SmartDashboard.putData("AutoChooser", autoChooser);
   }
 
   Command ScoreAndCollect(String startPath, String endPath, Command reef_auto_drive_branch, Command try_prep_coral_l) {
@@ -417,7 +417,7 @@ private void configDriverBindings() {
   }
 
   public Command getAutonomousCommand() {
-    return autoChooser.getSelected();
+    return autoChooser.selectedCommand();
 
   }
 
@@ -524,12 +524,14 @@ private void configOperatorBindings() {
   public void configFeedback() {
     isReadyToScoreReefFeedback
         .onTrue(Commands.runOnce(() -> subLED.setLED(constLED.READY_TO_SHOOT_ANIMATION, 0)))
-        .whileTrue(Commands.runOnce(() -> conOperator.setRumble(RumbleType.kBothRumble,constControllers.OPERATOR_RUMBLE)))
+        .whileTrue(
+            Commands.runOnce(() -> conOperator.setRumble(RumbleType.kBothRumble, constControllers.OPERATOR_RUMBLE)))
         .onFalse(Commands.runOnce(() -> conOperator.setRumble(RumbleType.kBothRumble, 0)))
         .onFalse(Commands.runOnce(() -> subLED.clearAnimation()));
     isReadyToScoreNetFeedback
         .onTrue(Commands.runOnce(() -> subLED.setLED(constLED.READY_TO_SHOOT_ANIMATION, 0)))
-        .whileTrue(Commands.runOnce(() -> conOperator.setRumble(RumbleType.kBothRumble,constControllers.OPERATOR_RUMBLE)))
+        .whileTrue(
+            Commands.runOnce(() -> conOperator.setRumble(RumbleType.kBothRumble, constControllers.OPERATOR_RUMBLE)))
         .onFalse(Commands.runOnce(() -> conOperator.setRumble(RumbleType.kBothRumble, 0)))
         .onFalse(Commands.runOnce(() -> subLED.clearAnimation()));
   }