From 8da5661bf87454f90b21b04658cb0507a2866ee0 Mon Sep 17 00:00:00 2001
From: 66945 <54561572+66945@users.noreply.github.com>
Date: Tue, 28 Feb 2023 12:36:52 -0700
Subject: [PATCH] Buncha UI Stuffs

---
 .../robot/commands/PlaybackChooser.java       | 42 ++++++++++++-------
 1 file changed, 26 insertions(+), 16 deletions(-)

diff --git a/src/main/java/frc4388/robot/commands/PlaybackChooser.java b/src/main/java/frc4388/robot/commands/PlaybackChooser.java
index a86c38e..af7f4ac 100644
--- a/src/main/java/frc4388/robot/commands/PlaybackChooser.java
+++ b/src/main/java/frc4388/robot/commands/PlaybackChooser.java
@@ -5,10 +5,9 @@ import java.util.ArrayList;
 import java.util.HashMap;
 
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
+import edu.wpi.first.wpilibj.shuffleboard.ComplexWidget;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-import edu.wpi.first.wpilibj.shuffleboard.WidgetType;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import frc4388.robot.subsystems.SwerveDrive;
@@ -16,9 +15,11 @@ import frc4388.robot.subsystems.SwerveDrive;
 public class PlaybackChooser {
     private final ArrayList<SendableChooser<Command>> m_choosers    = new ArrayList<>();
     private       SendableChooser<Command>            m_playback    = null;
+    private final ArrayList<ComplexWidget>            m_widgets     = new ArrayList<>();
     private final HashMap<String, Command>            m_commandPool = new HashMap<>();
-
-    private final File        m_dir = new File("/home/lvuser/autos/");
+    
+    private final File        m_dir    = new File("/home/lvuser/autos/");
+    private       int         m_cmdNum = 0;
     private final SwerveDrive m_swerve;
 
     // commands
@@ -34,11 +35,14 @@ public class PlaybackChooser {
     }
 
     public PlaybackChooser buildDisplay() {
-        appendCommand();
+        for (int i = 0; i < 10; i++) {
+            appendCommand();
+        }
         m_playback = m_choosers.get(0);
+        nextChooser();
 
         Shuffleboard.getTab("Auto Chooser")
-            .add("Add Sequence", new InstantCommand(() -> appendCommand()))
+            .add("Add Sequence", new InstantCommand(() -> {}))
             .withPosition(4, 0);
         return this;
     }
@@ -46,29 +50,35 @@ public class PlaybackChooser {
     // This will be bound to a button for the time being
     public void appendCommand() {
         var chooser = new SendableChooser<Command>();
-
         chooser.setDefaultOption("No Auto", m_noAuto);
-        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));
-        }
 
         m_choosers.add(chooser);
-        Shuffleboard.getTab("Auto Chooser")
+        ComplexWidget widget = Shuffleboard.getTab("Auto Chooser")
             .add("Command: " + m_choosers.size(), chooser)
             .withSize(4, 1)
             .withPosition(0, m_choosers.size() - 1)
             .withWidget(BuiltInWidgets.kSplitButtonChooser);
+
+        m_widgets.add(widget);
+    }
+
+    public void nextChooser() {
+        SendableChooser<Command> chooser = m_choosers.get(m_cmdNum++);
+
+        for (String auto : m_dir.list()) {
+            chooser.addOption(auto, new JoystickPlayback(m_swerve, auto));
+        }
+        for (var cmd_name : m_commandPool.keySet()) {
+            chooser.addOption(cmd_name, m_commandPool.get(cmd_name));
+        }
     }
 
     public Command getCommand() {
         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++) {
+        Command[] commands = new Command[m_cmdNum - 1];
+        for (int i = 0; i < m_cmdNum - 1; i++) {
             Command command2 = m_choosers.get(i + 1).getSelected();
             command2 = command2 == null ? m_noAuto : command2.asProxy();