basic is back baby

src/main/java/frc4388/robot/RobotContainer.java

@@ -71,7 +71,7 @@ import frc4388.robot.Constants.OIConstants;
 import frc4388.robot.Constants.ShooterConstants;
 import frc4388.robot.Constants.StorageConstants;
 import frc4388.robot.Constants.SwerveDriveConstants;
-import frc4388.robot.commands.CommandChooser;
+import frc4388.robot.commands.ComplexCommandChooser;
 import frc4388.robot.commands.ButtonBoxCommands.RunMiddleSwitch;
 import frc4388.robot.commands.ButtonBoxCommands.RunTurretOrClimberAuto;
 import frc4388.robot.commands.ClimberCommands.RunClaw;
@@ -362,14 +362,14 @@ public class RobotContainer {
     // toggle manual mode and autonomous mode based on the current control mode
     new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
 
-    .whenPressed(new InstantCommand(() -> {
+    // .whenPressed(new InstantCommand(() -> {
-      if (this.currentControlMode.equals(SubsystemMode.CLIMBER)) { m_robotTurret.gotoZero(); }
+    //   if (this.currentControlMode.equals(SubsystemMode.CLIMBER)) { m_robotTurret.gotoZero(); }
-    }, m_robotTurret))
+    // }, m_robotTurret))
 
-      .whenPressed(new InstantCommand(() -> {
+    //   .whenPressed(new InstantCommand(() -> {
-        if (this.currentControlMode.equals(SubsystemMode.SHOOTER)) { this.currentTurretMode = ControlMode.MANUAL; } 
+    //     if (this.currentControlMode.equals(SubsystemMode.SHOOTER)) { this.currentTurretMode = ControlMode.MANUAL; } 
-        if (this.currentControlMode.equals(SubsystemMode.CLIMBER)) { this.currentClimberMode = ControlMode.AUTONOMOUS; }
+    //     if (this.currentControlMode.equals(SubsystemMode.CLIMBER)) { this.currentClimberMode = ControlMode.AUTONOMOUS; }
-      }))
+    //   }))
 
       // * custom Command inside InstantCommand
       // .whenPressed(new InstantCommand(() -> {
@@ -382,19 +382,19 @@ public class RobotContainer {
       // .whenPressed(new RunTurretOrClimberAuto(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry, m_robotClimber, m_robotClaws))
 
       // * CommandChooser with BooleanSuppliers
-      .whenPressed(new CommandChooser(new HashMap<Command, BooleanSupplier>() {{
+      .whenPressed(new ComplexCommandChooser(new HashMap<Command, BooleanSupplier>() {{
         put(new RunClimberPath(m_robotClimber, m_robotClaws, new Point[] {new Point()}), () -> currentControlMode.equals(SubsystemMode.CLIMBER));
         put(new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry), () -> currentControlMode.equals(SubsystemMode.SHOOTER));
-      }}))
+      }}));
       // .whenPressed(new CommandChooser(new RunClimberPath(m_robotClimber, m_robotClaws, new Point[] {new Point()}), 
       //                                 new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry), 
       //                                 () -> this.currentControlMode.equals(SubsystemMode.CLIMBER),
       //                                 () -> this.currentControlMode.equals(SubsystemMode.SHOOTER)))
 
-      .whenReleased(new InstantCommand(() -> {
+      // .whenReleased(new InstantCommand(() -> {
-        if (this.currentControlMode.equals(SubsystemMode.SHOOTER)) { this.currentTurretMode = ControlMode.AUTONOMOUS; }
+      //   if (this.currentControlMode.equals(SubsystemMode.SHOOTER)) { this.currentTurretMode = ControlMode.AUTONOMOUS; }
-        if (this.currentControlMode.equals(SubsystemMode.CLIMBER)) { this.currentClimberMode = ControlMode.MANUAL; }
+      //   if (this.currentControlMode.equals(SubsystemMode.CLIMBER)) { this.currentClimberMode = ControlMode.MANUAL; }
-      }));
+      // }));
 
     new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftButton.value)
     .whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))

src/main/java/frc4388/robot/commands/BasicCommandChooser.java

@@ -0,0 +1,68 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+package frc4388.robot.commands;
+
+import java.util.Set;
+import java.util.function.BooleanSupplier;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpilibj2.command.Subsystem;
+
+public class BasicCommandChooser extends CommandBase {
+
+  private Command c1;
+  private Command c2;
+  private Boolean b1;
+  private Boolean b2;
+
+  private Command theChosenOne;
+
+  /** Creates a new CommandChooser. */
+  public BasicCommandChooser(Command c1, Command c2, BooleanSupplier bs1, BooleanSupplier bs2) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.c1 = c1;
+    this.c2 = c2;
+    this.b1 = bs1.getAsBoolean();
+    this.b2 = bs2.getAsBoolean();
+
+    Set<Subsystem> allReqs = c1.getRequirements();
+    allReqs.addAll(c2.getRequirements());
+
+    addRequirements((Subsystem[]) allReqs.toArray());
+  }
+
+  public Command getTheChosenOne() {
+    if (this.b1) {
+      return this.c1;
+    } else {
+      return this.c2;
+    }
+  }
+  
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    this.theChosenOne = getTheChosenOne();
+    this.theChosenOne.initialize();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    this.theChosenOne.execute();
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    this.theChosenOne.end(interrupted);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return this.theChosenOne.isFinished();
+  }
+}

src/main/java/frc4388/robot/commands/ComplexCommandChooser.java

@@ -14,7 +14,7 @@ import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import edu.wpi.first.wpilibj2.command.Subsystem;
 
-public class CommandChooser extends CommandBase {
+public class ComplexCommandChooser extends CommandBase {
 
   private HashMap<Command, BooleanSupplier> commandMap;
   
@@ -24,7 +24,7 @@ public class CommandChooser extends CommandBase {
    * @author Aarav Shah
    * @author Daniel Thomas McGrath
   */
-  public CommandChooser(HashMap<Command, BooleanSupplier> commandMap) {
+  public ComplexCommandChooser(HashMap<Command, BooleanSupplier> commandMap) {
     this.commandMap = commandMap;
 
     Set<Subsystem> allReqs = Collections.emptySet();