Here are some code snippets:
In Robot.h:
class Robot : public IterativeRobot {
private:
public:
CommandGroup *autonomousCommand;
SendableChooser *chooser;
CommandGroup *autoCommand1Can;
CommandGroup *autoCommandMoveToZone;
CommandGroup *autoCommand1Can1Tote;
CommandGroup *autoCommandDoNothing;
Robot.cpp:
autoCommand1Can = new AutonomousCommand1Can();
autoCommandMoveToZone = new AutonomousMoveToZone();
autoCommand1Can1Tote = new AutonomousCommand1Can1Tote();
autoCommandDoNothing = new AutonomousEmpty();
// Stuff to get autonomous selection on SmartDashboard
chooser = new SendableChooser();
chooser->AddDefault("Can to Auto Zone", autoCommandMoveToZone);
chooser->AddObject("Drive to Auto Zone", autoCommand1Can);
chooser->AddObject("Drive to Auto Zone", autoCommand1Can1Tote);
chooser->AddObject("Do absolutely nothing", autoCommandDoNothing);
SmartDashboard:
utData("Autonomous Modes",chooser);
Each of the commands is a CommandGroup in which we addSequential a series or other commands, each of which has been tested.
Thanks again for any help.