fix(sim): it seems not to like dashboard entries when under a simulation

networktables.json

@@ -0,0 +1 @@
+[]

simgui-ds.json

@@ -0,0 +1,97 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "Keyboard0"
+    }
+  ]
+}

simgui.json

@@ -0,0 +1,28 @@
+{
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo",
+      "/Pose": "Field2d",
+      "/SmartDashboard/Auto Chooser": "String Chooser",
+      "/SmartDashboard/Control Chooser": "String Chooser",
+      "/SmartDashboard/Control Method Chooser": "String Chooser",
+      "/SmartDashboard/Module 0": "Mechanism2d",
+      "/SmartDashboard/Module 1": "Mechanism2d",
+      "/SmartDashboard/Module 2": "Mechanism2d",
+      "/SmartDashboard/Module 3": "Mechanism2d",
+      "/SmartDashboard/Speed Chooser": "String Chooser"
+    }
+  },
+  "NetworkTables Info": {
+    "Clients": {
+      "open": true
+    },
+    "Connections": {
+      "open": true
+    },
+    "Server": {
+      "open": true
+    },
+    "visible": true
+  }
+}

src/main/java/frc/robot/RobotContainer.kt

@@ -14,6 +14,9 @@ import edu.wpi.first.math.geometry.Pose2d
 import edu.wpi.first.math.geometry.Rotation2d
 import edu.wpi.first.math.geometry.Translation2d
 import edu.wpi.first.wpilibj.DriverStation
+import edu.wpi.first.wpilibj.RobotBase
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard
 import edu.wpi.first.wpilibj2.command.Command
 import edu.wpi.first.wpilibj2.command.Commands
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController
@@ -30,9 +33,13 @@ import kotlin.math.cos
 import kotlin.math.sin
 
 class RobotContainer {
-    private val autoChooser: LoggedDashboardChooser<Command>
-    private val controlChooser: LoggedDashboardChooser<String> = LoggedDashboardChooser<String>("Control Method Chooser")
-    private val speedChooser: LoggedDashboardChooser<Double> = LoggedDashboardChooser<Double>("Speed Chooser")
+    private val autoChooser: LoggedDashboardChooser<Command> // auto chooser
+
+    private val controlChooser: SendableChooser<String> = SendableChooser()
+    private val controlChooserLogger: LoggedDashboardChooser<String>
+
+    private val speedChooser: SendableChooser<Double> = SendableChooser()
+    private val speedChooserLogger: LoggedDashboardChooser<Double>
     private var MaxSpeed: Double = TunerConstants.kSpeedAt12VoltsMps // Initial max is true top speed
     private val TurtleSpeed = 0.1 // Reduction in speed from Max Speed, 0.1 = 10%
     private val MaxAngularRate =
@@ -76,6 +83,7 @@ class RobotContainer {
     private var lastSpeed = 0.65
 
     private fun configureBindings() {
+        SmartDashboard.putData("Auto Chooser", autoChooser.sendableChooser)
         newControlStyle()
         newSpeed()
 
@@ -106,7 +114,7 @@ class RobotContainer {
         )
         drv.leftBumper().onFalse(
             Commands.runOnce({
-                MaxSpeed = TunerConstants.kSpeedAt12VoltsMps * speedChooser.get()
+                MaxSpeed = TunerConstants.kSpeedAt12VoltsMps * speedChooserLogger.get()
             })
                 .andThen({ AngularRate = MaxAngularRate }),
         )
@@ -116,10 +124,10 @@ class RobotContainer {
         }
         drivetrain.registerTelemetry { state: SwerveDrivetrain.SwerveDriveState -> logger.telemeterize(state) }
 
-        val controlPick = Trigger { lastControl !== controlChooser.get() }
+        val controlPick = Trigger { lastControl !== controlChooserLogger.get() }
         controlPick.onTrue(Commands.runOnce({ newControlStyle() }))
 
-        val speedPick = Trigger { lastSpeed !== speedChooser.get() }
+        val speedPick = Trigger { lastSpeed !== try { speedChooserLogger.get()!! } catch (e: Throwable) {0.65} }
         speedPick.onTrue(Commands.runOnce({ newSpeed() }))
 
         drv.x().and(drv.pov(0)).whileTrue(drivetrain.runDriveQuasiTest(SysIdRoutine.Direction.kForward))
@@ -148,10 +156,11 @@ class RobotContainer {
         // Build an auto chooser. This will use Commands.none() as the default option.
         autoChooser = LoggedDashboardChooser("Auto Chooser", AutoBuilder.buildAutoChooser())
 
-        controlChooser.addDefaultOption("2 Joysticks", "2 Joysticks")
         controlChooser.addOption("1 Joystick Rotation Triggers", "1 Joystick Rotation Triggers")
         controlChooser.addOption("Split Joysticks Rotation Triggers", "Split Joysticks Rotation Triggers")
         controlChooser.addOption("2 Joysticks with Gas Pedal", "2 Joysticks with Gas Pedal")
+        controlChooser.setDefaultOption("2 Joysticks", "2 Joysticks")
+        controlChooserLogger = LoggedDashboardChooser("Control Chooser", controlChooser)
 
         speedChooser.addOption("100%", 1.0)
         speedChooser.addOption("95%", 0.95)
@@ -160,11 +169,12 @@ class RobotContainer {
         speedChooser.addOption("80%", 0.8)
         speedChooser.addOption("75%", 0.75)
         speedChooser.addOption("70%", 0.7)
-        speedChooser.addDefaultOption("65%", 0.65)
+        speedChooser.setDefaultOption("65%", 0.65)
         speedChooser.addOption("60%", 0.6)
         speedChooser.addOption("55%", 0.55)
         speedChooser.addOption("50%", 0.5)
         speedChooser.addOption("35%", 0.35)
+        speedChooserLogger = LoggedDashboardChooser("Speed Chooser", speedChooser)
 
         configureBindings()
     }
@@ -174,8 +184,8 @@ class RobotContainer {
             autoChooser.get()
 
     private fun newControlStyle() {
-        lastControl = controlChooser.get()
-        when (controlChooser.get()) {
+        lastControl = if(controlChooserLogger.get() != null) controlChooserLogger.get() else "2 Joysticks"
+        when (controlChooserLogger.get()) {
             "2 Joysticks" -> controlStyle = Supplier<SwerveRequest?> {
                 drive.withVelocityX(-drv.leftY * MaxSpeed) // Drive forward -Y
                     .withVelocityY(-drv.leftX * MaxSpeed) // Drive left with negative X (left)
@@ -201,17 +211,34 @@ class RobotContainer {
                     .withVelocityY(sin(angle) * drv.rightTriggerAxis * MaxSpeed) // Angle of left stick Y * gas pedal
                     .withRotationalRate(-drv.rightX * AngularRate) // Drive counterclockwise with negative X (left)
             }
+
+            else -> {
+                DriverStation.reportWarning("RC: Invalid control style: " + controlChooserLogger.get(), false)
+                controlStyle = Supplier<SwerveRequest?> {
+                    drive.withVelocityX(-drv.leftY * MaxSpeed) // Drive forward -Y
+                        .withVelocityY(-drv.leftX * MaxSpeed) // Drive left with negative X (left)
+                        .withRotationalRate(-drv.rightX * AngularRate)
+                }
+            }
         }
         try {
             drivetrain.defaultCommand.cancel()
         } catch (_: Exception) {
-            DriverStation.reportWarning("RC: Failed to cancel default command", false)
+            DriverStation.reportWarning("RC: Failed to cancel default command? Maybe something else...", true)
+            controlStyle = Supplier<SwerveRequest?> {
+                drive.withVelocityX(-drv.leftY * MaxSpeed) // Drive forward -Y
+                    .withVelocityY(-drv.leftX * MaxSpeed) // Drive left with negative X (left)
+                    .withRotationalRate(-drv.rightX * AngularRate)
+            }
         }
         drivetrain.defaultCommand = drivetrain.applyRequest(controlStyle!!).ignoringDisable(true)
     }
 
     private fun newSpeed() {
-        lastSpeed = speedChooser.get()
+        try { lastSpeed = speedChooserLogger.get() } catch (_: Exception) {
+            DriverStation.reportWarning("RC: Failed to get speed, value is: " + speedChooserLogger.get(), false)
+            lastSpeed = 0.65
+        }
         MaxSpeed = TunerConstants.kSpeedAt12VoltsMps * lastSpeed
     }