Changing drive mode through shuffleboard

[AhmedF]

I was trying to make a way for drivers to change drive mode through the shuffleboard. I tried getting a Boolean from the shuffleboard using a button widget however if I press the button it does not change the drive mode. I used the Boolean in an if statement in the drivetrain command with the different drive modes. How would I instead go about implementing this feature. Thanks for any help.

[ohowe]

This way may largely different than how you might want to do it:
You can do this with the SendableChooser. That article goes into how you could do it for an auto program but it is very similar for choosing a teleop drive command. Instead of using the getSelected in getAutonomousCommand you can create a similar updateTeleopCommand that is called in teleopInit of Robot.java and sets the default drivetrain command.

public void updateTeleopCommand() {
    driveTrain.setDefaultCommand(driveCommandChooser.getSelected());
}

This will update the drive command to the chosen one every time the robot is changed to teleop mode. I haven’t personally tested this but it should work.

[SamPDub]

I would highly recommend looking at the SelectCommand: Convenience Features — FIRST Robotics Competition documentation. You could combine this with the input from the Shuffleboard to run two (or more) different drive commands based on what has been selected.

[AhmedF]

i’ll try both of these on monday when i will be with the robot again. Thanks both of you.

[AhmedF]

how would i select which command I want through shuffleboard. This is the code I have right now.
private enum CommandSelector {
arcade,
tank
}

// An example selector method for the selectcommand.  Returns the selector that will select
// which command to run.  Can base this choice on logical conditions evaluated at runtime.

private CommandSelector select() {
    return CommandSelector.arcade;


}

// An example selectcommand.  Will select from the three commands based on the value returned
// by the selector method at runtime.  Note that selectcommand works on Object(), so the
// selector does not have to be an enum; it could be any desired type (string, integer,
// boolean, double...)

private final Command m_exampleSelectCommand = new SelectCommand(
                // Maps selector values to commands
                Map.ofEntries(
                        Map.entry(CommandSelector.arcade, drivearcade),
                        Map.entry(CommandSelector.tank, drivetank)),
                this::select);