// RobotBuilder Version: 0.0.2
//
// This file was generated by RobotBuilder. It contains sections of
// code that are automatically generated and assigned by robotbuilder.
// These sections will be updated in the future when you export to
// Java from RobotBuilder. Do not put any code or make any change in
// the blocks indicating autogenerated code or it will be lost on an
// update. Deleting the comments indicating the section will prevent
// it from being updated in th future.
package org.usfirst.frc3824.PromoChassis;
import org.usfirst.frc3824.PromoChassis.subsystems.ShooterAngleAdjust;
import org.usfirst.frc3824.PromoChassis.subsystems.Shooter;
import org.usfirst.frc3824.PromoChassis.subsystems.Drivetrain;
import org.usfirst.frc3824.PromoChassis.subsystems.Pump;
import org.usfirst.frc3824.PromoChassis.commands.AutonomousCommand;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import org.usfirst.frc3824.PromoChassis.commands.DriveAtASmallAngleTimeAndPowerDriveAtHotGoal;
/**
 * The VM is configured to automatically run this class, and to call the
 * functions corresponding to each mode, as described in the IterativeRobot
 * documentation. If you change the name of this class or the package after
 * creating this project, you must also update the manifest file in the resource
 * directory.
 */
public class Robot extends IterativeRobot
{
    Command autonomousCommand;
    public static OI oi;
    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
    public static Drivetrain drivetrain;
    public static Shooter shooter;
    public static Pump pump;
    public static ShooterAngleAdjust shooterAngleAdjust;
    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
    
    public static SendableChooser chooser;
    /**
     * This function is run when the robot is first started up and should be
     * used for any initialization code.
     */
    public void robotInit()
    {
        RobotMap.init();
        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
        drivetrain = new Drivetrain();
        shooter = new Shooter();
        pump = new Pump();
        shooterAngleAdjust = new ShooterAngleAdjust();
    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
        // This MUST be here. If the OI creates Commands (which it very likely
        // will), constructing it during the construction of CommandBase (from
        // which commands extend), subsystems are not guaranteed to be
        // yet. Thus, their requires() statements may grab null pointers. Bad
        // news. Don't move it.
        oi = new OI();
        // instantiate the command used for the autonomous period
        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
        autonomousCommand = new AutonomousCommand();
    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
        chooser = new SendableChooser();
        chooser.addDefault("Do Nothing", new AutonomousCommand());
        chooser.addObject("Drive to small goal", new DriveAtASmallAngleTimeAndPowerDriveAtHotGoal());
      // show the autonomous modes
        SmartDashboard.putData("Autonomous modes:", chooser); 
    }
    public void autonomousInit()
    {
        // schedule the autonomous command (example)
        if (autonomousCommand != null)
        {
            autonomousCommand.start();
        }
    }
    /**
     * This function is called periodically during autonomous
     */
    public void autonomousPeriodic()
    {
        Scheduler.getInstance().run();
    }
    public void teleopInit()
    {
        // This makes sure that the autonomous stops running when
        // teleop starts running. If you want the autonomous to 
        // continue until interrupted by another command, remove
        // this line or comment it out.
        if (autonomousCommand != null)
        {
            autonomousCommand.cancel();
        }
    }
    /**
     * This function is called periodically during operator control
     */
    public void teleopPeriodic()
    {
        // Print out sensor information
        SmartDashboard.putNumber("Gyro", Robot.drivetrain.getGyroValue());
        Scheduler.getInstance().run();
    }
    /**
     * This function called periodically during test mode
     */
    public void testPeriodic()
    {
        LiveWindow.run();
    }
}

@@ -3612,36 +3612,77 @@
         
-if (autonomousComman
+Object selected = chooser.getSelected();%0D%0A        if((selecte
 d != nul
@@ -3675,32 +3675,33 @@
 elected != null)
+)
 %0D%0A        %7B%0D%0A   
@@ -3709,33 +3709,36 @@
         
-autonomousCommand
+((Command) selected)
 .start()

Make autonomous selection work