From 9299ee0974e4a878703f61cdd4d16374c632e962 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Sun, 6 Mar 2022 14:51:18 -0700 Subject: [PATCH] chooser change --- src/main/java/frc4388/robot/Robot.java | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index 3d533a6..53c33be 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -153,10 +153,7 @@ public class Robot extends TimedRobot { SmartDashboard.putNumber("Odometry Theta", m_robotContainer.getOdometry().getRotation().getDegrees()); } - public void updateOdoChooser() { - Pose2d currentPose = m_robotContainer.getOdometry(); - odoChooser.setDefaultOption("(" + currentPose.getX() + ", " + currentPose.getY() + ", " + currentPose.getRotation().getDegrees() + ")", currentPose); - + public void updateOdoChooser() { for (Map.Entry entry : odoChoices.entrySet()) { odoChooser.addOption(entry.getKey(), entry.getValue()); } @@ -164,7 +161,7 @@ public class Robot extends TimedRobot { public void addOdoChoices(Pose2d... points) { for (Pose2d point : points) { - String key = "(" + point.getX() + ", " + point.getY() + ", " + point.getRotation().getDegrees() + ")"; + String key = "(" + point.getX() + ", " + point.getY() + ", " + point.getRotation().getDegrees() + "°)"; odoChoices.put(key, point); } } @@ -203,6 +200,9 @@ public class Robot extends TimedRobot { LOGGER.fine("autonomousInit()"); selectedOdo = odoChooser.getSelected(); + if (selectedOdo == null) { + selectedOdo = m_robotContainer.getOdometry(); + } m_robotContainer.resetOdometry(selectedOdo); m_autonomousCommand = m_robotContainer.getAutonomousCommand(); @@ -227,6 +227,9 @@ public class Robot extends TimedRobot { m_robotContainer.m_robotSwerveDrive.m_gyro.addYaw(-1 * m_robotContainer.m_robotSwerveDrive.m_gyro.getYaw()); selectedOdo = odoChooser.getSelected(); + if (selectedOdo == null) { + selectedOdo = m_robotContainer.getOdometry(); + } m_robotContainer.resetOdometry(selectedOdo); // This makes sure that the autonomous stops running when