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AutoBuilder now builds upon selection rather than auto init #200

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AutoBuilder now builds upon selection rather than auto init #200

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023a166
AutoBuilder now builds upon selection rather than auto init
SnappleRamen Nov 5, 2025
d4e3ed7
Selected Auto defaults to default path if none selected, and added ba…
SnappleRamen Nov 23, 2025
e5c2cff
Spotless
SnappleRamen Nov 23, 2025
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7 changes: 5 additions & 2 deletions src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import edu.wpi.first.wpilibj2.command.Commands;
import frc.robot.Subsystems.SubsystemConstants;
import frc.robot.subsystems.SuperStructure;
import frc.robot.subsystems.auto.AutoBuilderConfig;
Expand Down Expand Up @@ -144,8 +145,10 @@ public void disabledExit() {
@Override
public void autonomousInit() {
Shuffleboard.startRecording();
if (SubsystemConstants.DRIVEBASE_ENABLED && AutoLogic.getSelectedAuto() != null) {
AutoLogic.getSelectedAuto().schedule();
if (SubsystemConstants.DRIVEBASE_ENABLED) {
Commands.waitSeconds(AutoLogic.autoDelayEntry.get().getDouble())
.andThen(AutoLogic.auton)
.schedule();
}
if (subsystems.climbPivotSubsystem != null) {
subsystems.climbPivotSubsystem.moveCompleteFalse();
Expand Down
13 changes: 10 additions & 3 deletions src/main/java/frc/robot/subsystems/auto/AutoLogic.java
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Expand Up @@ -174,8 +174,8 @@ public static enum StartPosition {
new DynamicSendableChooser<String>();
private static SendableChooser<Integer> gameObjects = new SendableChooser<Integer>();
private static SendableChooser<Boolean> isVision = new SendableChooser<Boolean>();

private static GenericEntry autoDelayEntry;
public static Command auton;
public static GenericEntry autoDelayEntry;

/** Registers commands in PathPlanner */
public static void registerCommands() {
Expand Down Expand Up @@ -216,6 +216,7 @@ public static void initShuffleBoard() {
for (StartPosition startPosition : StartPosition.values()) {
startPositionChooser.addOption(startPosition.title, startPosition);
}

isVision.setDefaultOption("Presets", false);
isVision.addOption("Vision", true);
gameObjects.setDefaultOption("0", 0);
Expand All @@ -234,10 +235,16 @@ public static void initShuffleBoard() {
tab.addBoolean("Low on time?", () -> AutoAlign.oneSecondLeft());
tab.addDouble("MATCH TIME(TIMER FOR AUTO)", () -> DriverStation.getMatchTime());
autoDelayEntry = tab.add("Auto Delay", 0).withPosition(4, 3).withSize(1, 1).getEntry();

isVision.onChange((dummyVar) -> AutoLogic.filterAutos(gameObjects.getSelected()));
startPositionChooser.onChange((dummyVar) -> AutoLogic.filterAutos(gameObjects.getSelected()));
gameObjects.onChange((dummyVar) -> AutoLogic.filterAutos(gameObjects.getSelected()));
availableAutos.onChange(
(dummyVar) ->
auton =
(availableAutos.getSelected() != defaultPath.getAutoName())
? AutoBuilder.buildAuto(
namesToAuto.get(availableAutos.getSelected()).getAutoName())
: defaultPath.getAutoCommand());

filterAutos(gameObjects.getSelected());
}
Expand Down