RobotΒΆ

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

Java

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import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc.robot.commands.auto.DriveMotor;

/**
 * This function is called once each time the robot enters Disabled mode.
 */
@Override
public void disabledInit()
{
    //Check to see if autoChooser has been created
    if(null == RobotContainer.autoChooser)
    {
    RobotContainer.autoChooser = new SendableChooser<>();
    }
    //Add the default auto to the auto chooser
    RobotContainer.autoChooser.setDefaultOption("Drive Motor", "Drive Motor");
    RobotContainer.autoMode.put("Drive Motor", new DriveMotor());
    SmartDashboard.putData(RobotContainer.autoChooser);
}

  • 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.