AutoBuilder now builds upon selection rather than auto init

[SnappleRamen]

Optimization improvements to the AutoBuilder. The Autos would be preloaded and ready as soon as a new Auto is selected, rather than having to do all that at the start of Auto.

[markpete]

/gemini review

[gemini-code-assist]

Code Review

This pull request aims to optimize autonomous mode initialization by pre-building the auto command when it's selected on Shuffleboard. While this is a good optimization, the current implementation introduces critical bugs. Specifically, the autonomous command field (auton) is not initialized at startup, which will cause a NullPointerException if the match starts without an auto being selected. The onChange handler for auto selection can also cause a NullPointerException. Furthermore, the configurable delay for autonomous mode has been unintentionally removed. My review provides suggestions to fix these critical issues while preserving the intended optimization.

[gemini-code-assist]

This direct call to AutoLogic.auton.schedule() introduces two critical issues:

1. NullPointerException Risk: As implemented in this PR, the AutoLogic.auton field is not initialized at startup. If autonomous mode starts without any Shuffleboard interaction, auton will be null, causing a NullPointerException.

2. Missing Auto Delay: The previous implementation using AutoLogic.getSelectedAuto() incorporated a delay configured from Shuffleboard. This new implementation bypasses that logic, so the auto delay will no longer work. This is a functional regression.

I've suggested a corresponding fix in AutoLogic.java to initialize auton. To restore the delay functionality, you should add a null check here and prepend the delay to the command before scheduling. This will require a new public getAutoDelay() method in AutoLogic.

Suggested change

	AutoLogic.auton.schedule();
	if (AutoLogic.auton != null) {
	var autoCommand = edu.wpi.first.wpilibj2.command.Commands.waitSeconds(AutoLogic.getAutoDelay()).andThen(AutoLogic.auton);
	autoCommand.schedule();
	}

[gemini-code-assist]

The implementation for pre-building the autonomous command has a couple of critical issues:

1. NullPointerException on startup: The auton command is only built when the auto selection changes on Shuffleboard. It is not initialized at startup, so it will be null if no selection is made before autonomous mode begins. This will lead to a NullPointerException in Robot.java.

2. NullPointerException in onChange: The onChange handler is not safe and can throw a NullPointerException if an auto is selected that is not in the namesToAuto map (like the default "do nothing" auto).

To fix this, auton should be initialized with a default command after the choosers are set up, and the onChange handler needs to be robust against missing paths.

I've also suggested a change in Robot.java to handle the auto delay, which was missed in this PR. That change will require a new public getter method in this class:

public static double getAutoDelay() {
  if (autoDelayEntry != null) {
    return autoDelayEntry.getDouble(0);
  }
  return 0.0;
}

    availableAutos.onChange(
        (selectedName) -> {
          AutoPath path = namesToAuto.get(selectedName);
          if (path == null) {
            path = defaultPath; // Fallback to default path if not found
          }
          auton = AutoBuilder.buildAuto(path.getAutoName());
        });

    filterAutos(gameObjects.getSelected());

    // Initialize auton with the default auto command
    {
      AutoPath path = namesToAuto.get(availableAutos.getSelected());
      if (path == null) {
        path = defaultPath;
      }
      auton = AutoBuilder.buildAuto(path.getAutoName());
    }