SendableChooser

[Tparbotmail]

"For instance, you may wish to be able to select between multiple autonomous modes. You can do this by putting every possible Command you want to run as an autonomous into a SendableChooser and then put it into the SmartDashboard to have a list of options appear on the laptop. Once autonomous starts, simply ask the SendableChooser what the selected value is."


The above is from the java doc. Is this intended for competition?
This is the line that makes me wonder
"Once autonomous starts, simply ask the SendableChooser what the selected value is."

How do you do ask the SendableChooser during competition? Is it intended such that you choose a value for an autonomous program you want to run? And then it just runs in autonomous portion of the competition?