From 220d511958b214e569807edccb629ef85e821fc4 Mon Sep 17 00:00:00 2001
From: 66945 <54561572+66945@users.noreply.github.com>
Date: Sat, 25 Feb 2023 20:39:33 -0700
Subject: [PATCH] unified choosers

---
 .../robot/commands/PlaybackChooser.java       | 36 +++++++------------
 1 file changed, 12 insertions(+), 24 deletions(-)

diff --git a/src/main/java/frc4388/robot/commands/PlaybackChooser.java b/src/main/java/frc4388/robot/commands/PlaybackChooser.java
index 8a9e197..87b2c75 100644
--- a/src/main/java/frc4388/robot/commands/PlaybackChooser.java
+++ b/src/main/java/frc4388/robot/commands/PlaybackChooser.java
@@ -11,12 +11,12 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
 import frc4388.robot.subsystems.SwerveDrive;
 
 public class PlaybackChooser {
-    private ArrayList<SendableChooser<Command>> m_choosers    = new ArrayList<>();
-    private SendableChooser<Command>            m_playback    = new SendableChooser<>();
-    private HashMap<String, Command>            m_commandPool = new HashMap<>();
+    private final ArrayList<SendableChooser<Command>> m_choosers    = new ArrayList<>();
+    private final SendableChooser<Command>            m_playback;
+    private final HashMap<String, Command>            m_commandPool = new HashMap<>();
 
-    private File        m_dir = new File("/home/lvuser/autos/");
-    private SwerveDrive m_swerve;
+    private final File        m_dir = new File("/home/lvuser/autos/");
+    private final SwerveDrive m_swerve;
 
     // commands
     private Command m_noAuto = new InstantCommand();
@@ -32,12 +32,8 @@ public class PlaybackChooser {
             m_commandPool.put((String) pool[i], (Command) pool[i + 1]);
         }
 
-        for (String auto : m_dir.list()) {
-            m_playback.addOption(auto, new JoystickPlayback(m_swerve, auto));
-        }
-        m_playback.addOption("No Auto", m_noAuto);
-
-        m_choosers.add(m_playback);
+        appendCommand();
+        m_playback = m_choosers.get(0);
         SmartDashboard.putData("Command: 0", m_playback);
     }
 
@@ -45,21 +41,13 @@ public class PlaybackChooser {
     public void appendCommand() {
         var chooser = new SendableChooser<Command>();
 
-        for (var cmd_name : m_commandPool.keySet()) {
-            chooser.addOption(cmd_name, m_commandPool.get(cmd_name));
-        }
-
-        m_choosers.add(chooser);
-        SmartDashboard.putData("Command: " + m_choosers.size(), chooser);
-    }
-
-    // This will be bound to a button for the time being
-    public void appendPlayback() {
-        var chooser = new SendableChooser<Command>();
-
         for (String auto : m_dir.list()) {
             m_playback.addOption(auto, new JoystickPlayback(m_swerve, auto));
         }
+        for (var cmd_name : m_commandPool.keySet()) {
+            chooser.addOption(cmd_name, m_commandPool.get(cmd_name));
+        }
+        chooser.addOption("No Auto", m_noAuto);
 
         m_choosers.add(chooser);
         SmartDashboard.putData("Command: " + m_choosers.size(), chooser);
@@ -73,7 +61,7 @@ public class PlaybackChooser {
         for (int i = 0; i < m_choosers.size()-1; i++) {
             Command command2 = m_choosers.get(i + 1).getSelected();
             command2 = command2 == null ? m_noAuto : command2.asProxy();
-            
+
             commands[i] = command2.asProxy();
         }