From 0018460337ece50b16263bdd62311e8cda11dbd2 Mon Sep 17 00:00:00 2001
From: Luke Shumaker <lukeshu@lukeshu.com>
Date: Sun, 12 Mar 2017 12:03:48 -0400
Subject: I forgot that we have enums.

---
 .../usfirst/frc/team4272/robot2017/Autonomous.java | 24 +++++++++++++---------
 1 file changed, 14 insertions(+), 10 deletions(-)

diff --git a/src/org/usfirst/frc/team4272/robot2017/Autonomous.java b/src/org/usfirst/frc/team4272/robot2017/Autonomous.java
index a64e5ad..2669205 100644
--- a/src/org/usfirst/frc/team4272/robot2017/Autonomous.java
+++ b/src/org/usfirst/frc/team4272/robot2017/Autonomous.java
@@ -163,21 +163,24 @@ public class Autonomous {
 	private final HwRobot robot;
 	private final Command[] commands;
 	private int step = 0;
-	private static final SendableChooser modeChooser = new SendableChooser();
+
+	public static enum Mode {
+		CENTER_PEG, LEFT_PEG, RIGHT_PEG, NONE
+	}
+	private static final SendableChooser<Mode> modeChooser = new SendableChooser<Mode>();
 
 	public static void robotInit() {
-		modeChooser.addObject("Center Peg", "Center Peg");
-		modeChooser.addObject("Left Peg", "Left Peg");
-		modeChooser.addObject("Right Peg", "Right Peg");
-		modeChooser.addObject("Stand Still", "Stand Still");
+		modeChooser.addObject("Center Peg", Mode.CENTER_PEG);
+		modeChooser.addObject("Left Peg", Mode.LEFT_PEG);
+		modeChooser.addObject("Right Peg", Mode.RIGHT_PEG);
+		modeChooser.addObject("Stand Still", Mode.NONE);
 		SmartDashboard.putData("Autonomous Mode", modeChooser);
 	}
 
 	public Autonomous(HwRobot robot) {
 		this.robot = robot;
 
-		String mode = (String) modeChooser.getSelected();
-		SmartDashboard.putString("read mode", mode);
+		Mode mode = modeChooser.getSelected();
 
 		Command init = c->{
 			c.lDrive = c.rDrive = 0;
@@ -186,7 +189,7 @@ public class Autonomous {
 		};
 
 		switch (mode) {
-		case "Center Peg":
+		case CENTER_PEG:
 			commands = new Command[]{
 				init,
 				new TimedCommand(driveDistance(robot, 0.4, 8.75), 6),
@@ -196,7 +199,7 @@ public class Autonomous {
 				c->{c.lDrive = c.rDrive = 0; return true;},
 			};
 			break;
-		case "Left Peg":
+		case LEFT_PEG:
 			commands = new Command[]{
 				init,
 				driveDistance(robot, 0.4, 3.5),
@@ -205,7 +208,7 @@ public class Autonomous {
 				c->{c.lDrive = c.rDrive = 0; return true;},
 			};
 			break;
-		case "Right Peg":
+		case RIGHT_PEG:
 			commands = new Command[]{
 				init,
 				driveDistance(robot, 0.4, 3.5),
@@ -214,6 +217,7 @@ public class Autonomous {
 				c->{c.lDrive = c.rDrive = 0; return true;},
 			};
 			break;
+		case NONE:
 		default:
 			commands = new Command[]{
 				c->{c.lDrive = c.rDrive = 0; return true;},
-- 
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