More than 1 Sendablechooser

[rwodonnell]

Originally Posted by Jeanne Boyarsky

Yes, you can use multiple sendable choosers. This code on github shows working code with multiple SendableChoosers. It also shows how to use non-command types in the choosers. (We use an integer in one of our extras and a boolean in another)

Awesome, thanks for the link! Love how you have auto for the Portcullis and Cheval de Frise. I was a little surprised you didn't have a choice for the low bar, but perhaps your bot is tall? We have thought about writing one for the Portcullis and CdF but haven't yet. Because we have the low bar and B and D defenses, we can always do auto but would be fun to try the category A defenses too, but have invested our time elsewhere for now.

The reason we were interested in multiple choosers is that we are working on an auto where we cross our defense (cat B, D or E), turn left or right, travel to the Sally Port / Drawbridge and come back through it halfway and hold the door for teams to start crossing it immediately in teleop. (Like a lot of teams, we have wasted time on the field either waiting during teleop for this little bit of teamwork and thought perhaps it would be a helpful mode when we are aligned with teams with no auto.) So the choosers would be our existing one for the defense (looks almost identical to yours!) and then the direction of the cat C defense (left or right) and then how many stalls over it is.

Out of curiosity, what do you use the operatorChooser for? I didn't see its use in the code.