Autonomous Switching With the Iterative Robot Template

[trevormcclellan]

Hello everyone, I am a programmer from team 5137 and I was wondering if there was a simple way to choose an autonomous program from the smart dash board like the tutorial, but with the iterative robot template instead of command based.
Here is the tutorial: http://wpilib.screenstepslive.com/s/3120/m/7932/l/81109-choosing-an-autonomous-program-from-smartdashboard

[Domenic Rodriguez]

The approach my team uses for multiple autonomous modes is to choose a mode based on one of the analog input sliders on the driver station (see attachment). Each autonomous mode is encapsulated within a class that inherits from the AutonomousMode base class. In autonomousInit(), we read the value of the first analog slider and then use that number in a switch statement to choose which autonomous class to create an instance of. Here's (https://github.com/LuNaTeCs-316/SureShotSAM-Java/blob/master/src/org/lunatecs316/frc2013/SureShotSAM.java) last year's code if you're interested (autonomous modes are in the "org.lunatecs316.frc2013.auto" package). The downside to this approach is that you have to remember the numbering of your autonomous modes.

[TFleig78]

You could do a similar thing as shown in the post above, but with Smartdashboard.

If you write:

SmartDashboard.putNumber("exampleVal", value);


You can edit the value before the match, depending on the auto you want then write the following to get the value and use it to run a specific sequence.

SmartDashboard.getNumber("exampleVal");

[virtuald]

You can use the same code as given in the tutorial. I believe the second argument to the chooser addObject() is just an object, so it can be anything -- not just a command. You can use the result of chooser.getSelected() to decide which autonomous behavior to perform.