Auto Chooser

Disclaimer: WIP and untested on 2026 hardware; verify selections and fallbacks on your robot. Custom code built on WPILib APIs (not official WPILib sample).

Purpose: Quickly pick between core autos and expose a fallback when hub data is missing.

Code (Java/WPILib)

public class AutoSelector {
  public enum AutoMode { FUEL_L1, FUEL_ONLY, TAXI_ONLY }

  private final SendableChooser<AutoMode> chooser = new SendableChooser<>();
  private final Command fuelL1;
  private final Command fuelOnly;
  private final Command taxiOnly;

  public AutoSelector(Command fuelL1, Command fuelOnly, Command taxiOnly) {
    this.fuelL1 = fuelL1;
    this.fuelOnly = fuelOnly;
    this.taxiOnly = taxiOnly;
    chooser.setDefaultOption("Fuel + L1", AutoMode.FUEL_L1);
    chooser.addOption("Fuel Only", AutoMode.FUEL_ONLY);
    chooser.addOption("Taxi Only", AutoMode.TAXI_ONLY);
    SmartDashboard.putData("Auto Chooser", chooser);
  }

  public Command getSelected(boolean hubDataAvailable) {
    AutoMode mode = chooser.getSelected();
    if (mode == null) mode = AutoMode.FUEL_L1;

    // If hub data is flaky, favor simpler autos
    if (!hubDataAvailable && mode == AutoMode.FUEL_L1) {
      mode = AutoMode.FUEL_ONLY;
    }

    return switch (mode) {
      case FUEL_L1 -> fuelL1;
      case FUEL_ONLY -> fuelOnly;
      case TAXI_ONLY -> taxiOnly;
    };
  }
}

How to test

• Shuffleboard: verify chooser shows all options and selection changes.
• Sim run: select each option, ensure the correct command is returned.
• Field: unplug FMS feed to simulate missing hub data; confirm it falls back if configured.

Pitfalls

• Always set a default option; null selection can crash.
• Keep auto commands short and robust; avoid requiring vision if not reliable.