Team4388/2023WayOfTheRobot
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fix auto chooser

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This commit is contained in:
66945
2023-02-25 20:33:24 -07:00
parent d09c7e464b
commit 2f35e591e8
2 changed files with 11 additions and 10 deletions
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src/main/java/frc4388/robot/RobotContainer.java
-3
View File
@@ -111,9 +111,6 @@ public class RobotContainer {
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON) new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> playbackChooser.appendCommand())); .onTrue(new InstantCommand(() -> playbackChooser.appendCommand()));
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> playbackChooser.appendPlayback()));
} }
src/main/java/frc4388/robot/commands/PlaybackChooser.java
+11 -7
View File
@@ -15,8 +15,7 @@ public class PlaybackChooser {
private SendableChooser<Command> m_playback = new SendableChooser<>(); private SendableChooser<Command> m_playback = new SendableChooser<>();
private HashMap<String, Command> m_commandPool = new HashMap<>(); private HashMap<String, Command> m_commandPool = new HashMap<>();
private File m_dir = new File("/home/lvuser/autos/"); private File m_dir = new File("/home/lvuser/autos/");
private SwerveDrive m_swerve; private SwerveDrive m_swerve;
// commands // commands
@@ -26,16 +25,17 @@ public class PlaybackChooser {
m_swerve = swerve; m_swerve = swerve;
for (int i = 0; i < pool.length; i += 2) { for (int i = 0; i < pool.length; i += 2) {
if (!(pool[i] instanceof String)) throw new RuntimeException("Need (string, command)"); if (!(pool[i] instanceof String) || !(pool[i + 1] instanceof Command)) {
if (!(pool[i + 1] instanceof Command)) throw new RuntimeException("Need (string, command)"); throw new RuntimeException("Need (string, command)");
}
m_commandPool.put((String) pool[i], (Command) pool[i + 1]); m_commandPool.put((String) pool[i], (Command) pool[i + 1]);
} }
m_playback.addOption("No Auto", m_noAuto);
for (String auto : m_dir.list()) { for (String auto : m_dir.list()) {
m_playback.addOption(auto, new JoystickPlayback(m_swerve, auto)); m_playback.addOption(auto, new JoystickPlayback(m_swerve, auto));
} }
m_playback.addOption("No Auto", m_noAuto);
m_choosers.add(m_playback); m_choosers.add(m_playback);
SmartDashboard.putData("Command: 0", m_playback); SmartDashboard.putData("Command: 0", m_playback);
@@ -66,11 +66,15 @@ public class PlaybackChooser {
} }
public Command getCommand() { public Command getCommand() {
Command command = m_playback.getSelected().asProxy(); Command command = m_playback.getSelected();
command = command == null ? m_noAuto : command.asProxy();
Command[] commands = new Command[m_choosers.size() - 1]; Command[] commands = new Command[m_choosers.size() - 1];
for (int i = 0; i < m_choosers.size()-1; i++) { for (int i = 0; i < m_choosers.size()-1; i++) {
commands[i] = m_choosers.get(i + 1).getSelected().asProxy(); Command command2 = m_choosers.get(i + 1).getSelected();
command2 = command2 == null ? m_noAuto : command2.asProxy();
commands[i] = command2.asProxy();
} }
return command.andThen(commands); return command.andThen(commands);