From 83e0b8f6160665983867d58cf3a01185b45c6603 Mon Sep 17 00:00:00 2001 From: Aarav Date: Sat, 25 Feb 2023 16:16:54 -0700 Subject: [PATCH] fixy fixy --- src/main/java/frc4388/robot/RobotContainer.java | 10 ++++++---- .../java/frc4388/robot/commands/PlaybackChooser.java | 9 +++++---- 2 files changed, 11 insertions(+), 8 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index d4411b3..e274800 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -79,6 +79,7 @@ public class RobotContainer { private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"); + PlaybackChooser playbackChooser; /** * The container for the robot. Contains subsystems, OI devices, and commands. */ @@ -104,8 +105,9 @@ public class RobotContainer { chooser.addOption("Taxi", taxi); - PlaybackChooser playbackChooser = new PlaybackChooser(m_robotSwerveDrive, - "Balance", new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive)); + playbackChooser = new PlaybackChooser(m_robotSwerveDrive, + "Balance", new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive), + "Balance2", new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive)); new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON) .onTrue(new InstantCommand(() -> playbackChooser.appendCommand())); @@ -154,8 +156,8 @@ public class RobotContainer { * @return the command to run in autonomous */ public Command getAutonomousCommand() { - - return chooser.getSelected(); + // return chooser.getSelected(); + return playbackChooser.getCommand(); } public DeadbandedXboxController getDeadbandedDriverController() { diff --git a/src/main/java/frc4388/robot/commands/PlaybackChooser.java b/src/main/java/frc4388/robot/commands/PlaybackChooser.java index 2934e40..59fb2b1 100644 --- a/src/main/java/frc4388/robot/commands/PlaybackChooser.java +++ b/src/main/java/frc4388/robot/commands/PlaybackChooser.java @@ -66,12 +66,13 @@ public class PlaybackChooser { } public Command getCommand() { - Command command = m_playback.getSelected(); + Command command = m_playback.getSelected().asProxy(); - for (int i = 1; i < m_choosers.size(); i++) { - command.andThen(m_choosers.get(i).getSelected()); + 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(); } - return command; + return command.andThen(commands); } }