From e8791a79c7072869ebf63e2f9646195ebb2150f2 Mon Sep 17 00:00:00 2001
From: Jean Li <bobthewaterlemon@gmail.com>
Date: Sat, 13 Jan 2024 15:57:46 -0800
Subject: [PATCH] Added RobotAutonomous

---
 .vscode/settings.json                        |  3 +-
 src/main/java/frc/robot/RobotAutonomous.java | 53 ++++++++++++++++++++
 2 files changed, 55 insertions(+), 1 deletion(-)
 create mode 100644 src/main/java/frc/robot/RobotAutonomous.java

diff --git a/.vscode/settings.json b/.vscode/settings.json
index 4ed293b..2f1b9b3 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -25,5 +25,6 @@
       }
     },
   ],
-  "java.test.defaultConfig": "WPIlibUnitTests"
+  "java.test.defaultConfig": "WPIlibUnitTests",
+  "java.compile.nullAnalysis.mode": "automatic"
 }
diff --git a/src/main/java/frc/robot/RobotAutonomous.java b/src/main/java/frc/robot/RobotAutonomous.java
new file mode 100644
index 0000000..29810b0
--- /dev/null
+++ b/src/main/java/frc/robot/RobotAutonomous.java
@@ -0,0 +1,53 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+
+package frc.robot;
+
+import com.nrg948.autonomous.Autonomous;
+
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Subsystems;
+
+/** 
+ * This class creates and manages the user interface operators used to select
+ * and configure autonomous routines.
+*/
+public class RobotAutonomous {
+    private final SendableChooser<Command> chooser;
+
+    /**
+     * Creates a new RobotAutonomous.
+     * 
+     * @param subsystems The subsystems container.
+     */
+    public RobotAutonomous(Subsystems subsystems) {
+        this.chooser = Autonomous.getChooser(subsystems, "frc.robot");
+    }
+
+    /**
+     * Returns the autonomous command selected in the chooser.
+     * 
+     * @return The autonomous command selected in the chooser.
+     */
+    public Command getAutonomousCommand(){
+        return this.chooser.getSelected();
+    }
+
+    /**
+     * Adds the autonomous layout to the shuffleboard tab.
+     * 
+     * @param tab The tab to add the layout.
+     */
+    public void addShuffleboardLayout(ShuffleboardTab tab) {
+        ShuffleboardLayout layout = tab.getLayout("Autonomous", BuiltInLayouts.kList)
+            .withPosition(0, 0)
+            .withSize(2, 2);
+        layout.add("Routine", chooser);
+    }
+}