[F22Rapture]

I am running Java, just for the record.

So I have this in OI:

public void switcher() {
        driveSwitch = new SendableChooser();
        driveSwitch.addDefault("Joystick Arcade (1)", new JoystickArcade());
        driveSwitch.addDefault("Joystick Arcade (2)", new DualJoystickArcade());
        driveSwitch.addDefault("Joystick Tank", new DualJoystickTank());
        driveSwitch.addObject("Kinect", new KinectCommand());
        SmartDashboard.putData("Drive Switch", driveSwitch);  
    }

And this in RobotMain:

public void testInit() {
        autonomousCommand.cancel();
        teleopCommand.cancel();
        msg.printLn("[mode] Dev");
        CommandBase.oi.initLiveWindow();
        msg.printLn("[status] LiveWindow initialized");
        CommandBase.oi.switcher();
        
        driveCommand = (Command) CommandBase.oi.driveSwitch.getSelected();        
        driveCommand.start();                
    }
    
    public void testPeriodic() {
        LiveWindow.run();      
    }

This code would allow it to switch, but it would require switching modes beforehand. My question is, how should I set it up to be able to switch modes on the fly? I feel like calling driveCommand.start() over and over in testPeriodic wouldn't work so well, but I have no idea. How should I check the current state of the SendableChooser against the current command running?