Robot

There are only few changes required in the main Robot class.

 1import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 2import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 3import frc.robot.commands.auto.DriveMotor;
 4
 5/**
 6 * This function is called once each time the robot enters Disabled mode.
 7 */
 8@Override
 9public void disabledInit()
10{
11    //Check to see if autoChooser has been created
12    if(null == RobotContainer.autoChooser)
13    {
14    RobotContainer.autoChooser = new SendableChooser<>();
15    }
16    //Add the default auto to the auto chooser
17    RobotContainer.autoChooser.setDefaultOption("Drive Motor", "Drive Motor");
18    RobotContainer.autoMode.put("Drive Motor", new DriveMotor());
19    SmartDashboard.putData(RobotContainer.autoChooser);
20}

  • Lines 1 - 3 are the required imports.

  • Lines 8 - 20 are the modifications made to the previously empty disabledInit().

  • Lines 12 - 15 check if autoChooser has beend created yet. If not then it creates autoChooser as a new SendableChooser.

  • Lines 17 - 19 add the default option to autoChooser and add autoChooser to the smartdashboard.