From db66cf8d55bf6b7d6bbbf4ae8a240812f0fdb007 Mon Sep 17 00:00:00 2001
From: 66945 <54561572+66945@users.noreply.github.com>
Date: Sat, 19 Mar 2022 11:10:04 -0600
Subject: [PATCH] Made better commandChooser

---
 .../java/frc4388/robot/RobotContainer.java    | 15 ++++--
 .../robot/commands/CommandChooser.java        | 49 ++++++++-----------
 2 files changed, 32 insertions(+), 32 deletions(-)

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 719c3da..db5d677 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -19,9 +19,12 @@ import java.time.format.DateTimeFormatter;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.Comparator;
+import java.util.HashMap;
 import java.util.List;
+import java.util.Map;
 import java.util.Objects;
 import java.util.Optional;
+import java.util.function.BooleanSupplier;
 import java.util.function.Function;
 import java.util.logging.Level;
 import java.util.logging.Logger;
@@ -379,10 +382,14 @@ public class RobotContainer {
       // .whenPressed(new RunTurretOrClimberAuto(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry, m_robotClimber, m_robotClaws))
 
       // * CommandChooser with BooleanSuppliers
-      .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)))
+      .whenPressed(new CommandChooser(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(() -> {
         if (this.currentControlMode.equals(SubsystemMode.SHOOTER)) { this.currentTurretMode = ControlMode.AUTONOMOUS; }
diff --git a/src/main/java/frc4388/robot/commands/CommandChooser.java b/src/main/java/frc4388/robot/commands/CommandChooser.java
index be1e273..fa66a02 100644
--- a/src/main/java/frc4388/robot/commands/CommandChooser.java
+++ b/src/main/java/frc4388/robot/commands/CommandChooser.java
@@ -4,69 +4,62 @@
 
 package frc4388.robot.commands;
 
+import java.util.Collections;
+import java.util.HashMap;
 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.CommandGroupBase;
 import edu.wpi.first.wpilibj2.command.Subsystem;
 
 public class CommandChooser extends CommandBase {
 
-  private Command c1;
-  private Command c2;
-
-  private Boolean b1;
-  private Boolean b2;
+  private HashMap<Command, BooleanSupplier> commandMap;
   
-  private Command chosen;
+  // // private Command chosen;
 
   /** Creates a new CommandChooser. */
-  public CommandChooser(Command c1, Command c2, BooleanSupplier bs1, BooleanSupplier bs2) {
-    // Use addRequirements() here to declare subsystem dependencies.
+  public CommandChooser(HashMap<Command, BooleanSupplier> commandMap) {
+    this.commandMap = commandMap;
 
-    this.c1 = c1;
-    this.c2 = c2;
+    Set<Subsystem> allReqs = Collections.emptySet();
 
-    this.b1 = bs1.getAsBoolean();
-    this.b2 = bs2.getAsBoolean();
+    for(Command command : commandMap.keySet())
+      allReqs.addAll(command.getRequirements());
 
-    Set<Subsystem> allReqs = c1.getRequirements();
-    allReqs.addAll(c2.getRequirements());
     addRequirements((Subsystem[]) allReqs.toArray());
   }
 
-  public Command getChosen() {
-    if (this.b1) {
-      return this.c1;
-    } else {
-      return this.c2;
-    }
-  }
-
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    this.chosen = getChosen();
-    this.chosen.initialize();
+    for(Command command : commandMap.keySet())
+      if(commandMap.get(command).getAsBoolean()) command.initialize();
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    this.chosen.execute();
+    for(Command command : commandMap.keySet())
+      if(commandMap.get(command).getAsBoolean()) command.execute();
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    this.chosen.end(interrupted);
+    for(Command command : commandMap.keySet())
+      if(commandMap.get(command).getAsBoolean()) command.end(interrupted);
   }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return this.chosen.isFinished();
+    boolean finished = true;
+
+    for(Command command : commandMap.keySet())
+      if(commandMap.get(command).getAsBoolean()) finished &= command.isFinished();
+    
+    return finished;
   }
 }