AutonomousLoader.java

package frc.robot.ShamLib;

import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj2.command.Command;
import java.util.HashMap;
import java.util.Map;

@Deprecated
public class AutonomousLoader<C extends Command, E extends Enum<E>> {
  Map<E, C> autoRoutes = new HashMap<>();

  private final SendableChooser chooser;

  public AutonomousLoader(Map<E, C> autoRoutes) {
    // Routes
    this.autoRoutes = autoRoutes;

    this.chooser = composeSendableChooser();
  }

  private SendableChooser composeSendableChooser() {
    int iterations = 0;
    SendableChooser chooser = new SendableChooser();
    for (Map.Entry<E, C> e : autoRoutes.entrySet()) {
      if (iterations == 0) chooser.setDefaultOption(e.getKey().name(), e.getKey());
      else chooser.addOption(e.getKey().name(), e.getKey());
      iterations++;
    }

    return chooser;
  }

  public SendableChooser getSendableChooser() {
    return chooser;
  }

  public C getCurrentSelection() {
    return autoRoutes.get(chooser.getSelected());
  }
}