allwpilib/wpilibcExamples/src/main/cpp/templates/iterative/Robot.cpp

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

#include <iostream>
#include <memory>
#include <string>

#include <IterativeRobot.h>
#include <LiveWindow/LiveWindow.h>
#include <SmartDashboard/SendableChooser.h>
#include <SmartDashboard/SmartDashboard.h>

class Robot : public frc::IterativeRobot {
public:
	void RobotInit() {
		chooser.AddDefault(autoNameDefault, autoNameDefault);
		chooser.AddObject(autoNameCustom, autoNameCustom);
		frc::SmartDashboard::PutData("Auto Modes", &chooser);
	}

	/*
	 * This autonomous (along with the chooser code above) shows how to
	 * select
	 * between different autonomous modes using the dashboard. The sendable
	 * chooser code works with the Java SmartDashboard. If you prefer the
	 * LabVIEW Dashboard, remove all of the chooser code and uncomment the
	 * GetString line to get the auto name from the text box below the Gyro.
	 *
	 * You can add additional auto modes by adding additional comparisons to
	 * the
	 * if-else structure below with additional strings. If using the
	 * SendableChooser make sure to add them to the chooser code above as
	 * well.
	 */
	void AutonomousInit() override {
		autoSelected = chooser.GetSelected();
		// std::string autoSelected = SmartDashboard::GetString("Auto
		// Selector", autoNameDefault);
		std::cout << "Auto selected: " << autoSelected << std::endl;

		if (autoSelected == autoNameCustom) {
			// Custom Auto goes here
		} else {
			// Default Auto goes here
		}
	}

	void AutonomousPeriodic() {
		if (autoSelected == autoNameCustom) {
			// Custom Auto goes here
		} else {
			// Default Auto goes here
		}
	}

	void TeleopInit() {}

	void TeleopPeriodic() {}

	void TestPeriodic() { lw->Run(); }

private:
	frc::LiveWindow* lw = LiveWindow::GetInstance();
	frc::SendableChooser<std::string> chooser;
	const std::string autoNameDefault = "Default";
	const std::string autoNameCustom = "My Auto";
	std::string autoSelected;
};

START_ROBOT_CLASS(Robot)