Release 3.0.2

README.md

@@ -1,3 +1,3 @@
 Arachne 3
 =================
-RELEASE VERSION: Arachne 3.0.1 (2020)
+RELEASE VERSION: Arachne 3.0.2 (2020)

src/main/java/arachne/lib/AutoManager.java

@@ -1,27 +1,29 @@
 package arachne.lib;
 
+import java.util.function.Function;
+
 import arachne.lib.scheduler.Schedulable;
 import arachne.lib.sequences.ActionConductor;
 import arachne.lib.sequences.Actionable;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 
-public class AutoManager<AutoT extends Enum<?> & Actionable> implements Schedulable
+public class AutoManager<RobotT, AutoT extends Enum<?> & Function<RobotT, Actionable>> implements Schedulable
 {
  protected static final String DASHBOARD_TAB = "Autonomous";
  protected static final String SELECTION_KEY = "Auto selection";
 
  protected final ActionConductor conductor;
- protected final SendableChooser<AutoT> autoChooser;
+ protected final SendableChooser<Actionable> autoChooser;
 
- public AutoManager(AutoT defaultAuto, AutoT[] autos) {
+ public AutoManager(RobotT robot, AutoT defaultAuto, AutoT[] autos) {
  this.conductor = new ActionConductor();
 
- this.autoChooser = new SendableChooser<AutoT>();
- this.autoChooser.setDefaultOption(defaultAuto.toString(), defaultAuto);
+ this.autoChooser = new SendableChooser<Actionable>();
+ this.autoChooser.setDefaultOption(defaultAuto.toString(), defaultAuto.apply(robot));
 
  for(AutoT auto : autos) {
- if(auto != defaultAuto) autoChooser.addOption(auto.toString(), auto);
+ if(auto != defaultAuto) autoChooser.addOption(auto.toString(), auto.apply(robot));
  }
 
  Shuffleboard.getTab(DASHBOARD_TAB).add(SELECTION_KEY, autoChooser);
@@ -31,7 +33,7 @@ public void startAuto() {
  startAuto(autoChooser.getSelected());
  }
 
- public void startAuto(AutoT auto) {
+ public void startAuto(Actionable auto) {
  stopAuto();
  conductor.add(auto);
  }