From 68aaf798ecd8e1764ca87af70b9e8d10115337bb Mon Sep 17 00:00:00 2001
From: 66945 <54561572+66945@users.noreply.github.com>
Date: Sat, 25 Feb 2023 20:33:24 -0700
Subject: [PATCH] fix auto chooser

---
 .../java/frc4388/robot/RobotContainer.java     |  3 ---
 .../robot/commands/PlaybackChooser.java        | 18 +++++++++++-------
 2 files changed, 11 insertions(+), 10 deletions(-)

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index e274800..7ae2f55 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -111,9 +111,6 @@ public class RobotContainer {
 
         new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
             .onTrue(new InstantCommand(() -> playbackChooser.appendCommand()));
-        
-        new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
-            .onTrue(new InstantCommand(() -> playbackChooser.appendPlayback()));
     }
 
 
diff --git a/src/main/java/frc4388/robot/commands/PlaybackChooser.java b/src/main/java/frc4388/robot/commands/PlaybackChooser.java
index 59fb2b1..8a9e197 100644
--- a/src/main/java/frc4388/robot/commands/PlaybackChooser.java
+++ b/src/main/java/frc4388/robot/commands/PlaybackChooser.java
@@ -15,8 +15,7 @@ public class PlaybackChooser {
     private SendableChooser<Command>            m_playback    = new SendableChooser<>();
     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;
 
     // commands
@@ -26,16 +25,17 @@ public class PlaybackChooser {
         m_swerve = swerve;
 
         for (int i = 0; i < pool.length; i += 2) {
-            if (!(pool[i]     instanceof String))  throw new RuntimeException("Need (string, command)");
-            if (!(pool[i + 1] instanceof Command)) throw new RuntimeException("Need (string, command)");
+            if (!(pool[i]     instanceof String) || !(pool[i + 1] instanceof Command)) {
+                throw new RuntimeException("Need (string, command)");
+            }
 
             m_commandPool.put((String) pool[i], (Command) pool[i + 1]);
         }
 
-        m_playback.addOption("No Auto", m_noAuto);
         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);
         SmartDashboard.putData("Command: 0", m_playback);
@@ -66,11 +66,15 @@ public class PlaybackChooser {
     }
 
     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];
         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);