add javadoc

src/main/java/frc/lib/AllianceSelector.java

@@ -1,25 +1,36 @@
 package frc.lib;
 
 import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.event.BooleanEvent;
 import edu.wpi.first.wpilibj.event.EventLoop;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import frc.robot.Constants.AutoConstants.AllianceColor;
+import java.util.Optional;
 
 public class AllianceSelector {
 
-  private AllianceColor m_currentColor;
+  private Alliance m_currentColor;
   private DigitalInput m_allianceSelectionSwitch;
   private EventLoop m_loop;
 
+  /**
+   * Constructs an alliance color selector switch
+   *
+   * @param port DIO port for reading the alliance color input
+   */
   public AllianceSelector(int port) {
     this.m_allianceSelectionSwitch = new DigitalInput(port);
   }
 
+  private Alliance getAllianceFromSwitch() {
+    return m_allianceSelectionSwitch.get() ? Alliance.Red : Alliance.Blue;
+  }
+
   private boolean updateAlliance() {
-    AllianceColor m_newColor =
-        m_allianceSelectionSwitch.get() ? AllianceColor.Red : AllianceColor.Blue;
-    if (m_newColor == m_currentColor) return false;
+    Alliance m_newColor = getAllianceFromSwitch();
+
+    if (m_newColor.equals(m_currentColor)) return false;
     else {
       m_currentColor = m_newColor;
       return true;
@@ -28,11 +39,29 @@ private boolean updateAlliance() {
 
   public BooleanEvent changedAlliance = new BooleanEvent(m_loop, () -> updateAlliance());
 
+  private boolean agreementInAllianceInputs() {
+    Optional<Alliance> allianceFromFMS = DriverStation.getAlliance();
+    Alliance allianceFromSwitch = getAllianceFromSwitch();
+
+    if (allianceFromFMS.isPresent()) {
+      return allianceFromSwitch.equals(allianceFromFMS.get());
+    } else return false;
+  }
+
+  public BooleanEvent agreementInAllianceInputs =
+      new BooleanEvent(m_loop, () -> agreementInAllianceInputs());
+
+  /**
+   * @return Whether the field is rotated from the driver's perspective
+   */
   public boolean fieldRotated() {
-    return m_currentColor.equals(AllianceColor.Red);
+    return m_currentColor.equals(Alliance.Red);
   }
 
-  public AllianceColor getAllianceColor() {
+  /**
+   * @return The current alliance
+   */
+  public Alliance getAllianceColor() {
     return m_currentColor;
   }
 

src/main/java/frc/lib/AutoOption.java

@@ -1,33 +1,55 @@
 package frc.lib;
 
-import frc.robot.Constants.AutoConstants.AllianceColor;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import frc.robot.autos.ChoreoAuto;
 
 public class AutoOption {
-  private AllianceColor m_color;
+  private Alliance m_color;
   private int m_option;
   private ChoreoAuto m_auto;
 
-  public AutoOption(AllianceColor color, int option, ChoreoAuto auto) {
+  /**
+   * Constructs a selectable autonomous mode option
+   *
+   * @param color Alliance for which the option is valid
+   * @param option Selector switch index for which the option is valid
+   * @param auto Command which runs the autonomous mode
+   */
+  public AutoOption(Alliance color, int option, ChoreoAuto auto) {
     this.m_color = color;
     this.m_option = option;
     this.m_auto = auto;
   }
 
-  public AutoOption(AllianceColor color, int option) {
+  /**
+   * Constructs a null autonomous mode option
+   *
+   * @param color Alliance for which the option is valid
+   * @param option Selector switch index for which the option is valid
+   */
+  public AutoOption(Alliance color, int option) {
     this.m_color = color;
     this.m_option = option;
     this.m_auto = null;
   }
 
-  public AllianceColor getColor() {
+  /**
+   * @return Alliance for which the option is valid
+   */
+  public Alliance getColor() {
     return this.m_color;
   }
 
+  /**
+   * @return Selector switch index for which the option is valid
+   */
   public int getOption() {
     return this.m_option;
   }
 
+  /**
+   * @return The command which runs the selected autonomous mode
+   */
   public ChoreoAuto getChoreoAuto() {
     return this.m_auto;
   }

src/main/java/frc/lib/AutoSelector.java

@@ -1,24 +1,32 @@
 package frc.lib;
 
 import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.event.BooleanEvent;
 import edu.wpi.first.wpilibj.event.EventLoop;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import frc.robot.Constants.AutoConstants.AllianceColor;
 import frc.robot.autos.ChoreoAuto;
 import java.util.List;
+import java.util.function.Supplier;
 
 public class AutoSelector {
 
   private ChoreoAuto m_currentAuto;
   private DigitalInput[] m_switchPositions;
-  private AllianceSelector m_allianceSelector;
+  private Supplier<Alliance> m_allianceColorSupplier;
   private List<AutoOption> m_autoOptions;
   private EventLoop m_loop;
 
+  /**
+   * Constructs an autonomous selector switch
+   *
+   * @param ports An array of DIO ports for selecting an autonomous mode
+   * @param allianceColorSupplier A method that supplies the current alliance color
+   * @param autoOptions An array of autonomous mode options
+   */
   public AutoSelector(
-      int[] ports, AllianceSelector allianceSelector, List<AutoOption> autoOptions) {
-    this.m_allianceSelector = allianceSelector;
+      int[] ports, Supplier<Alliance> allianceColorSupplier, List<AutoOption> autoOptions) {
+    this.m_allianceColorSupplier = allianceColorSupplier;
     this.m_autoOptions = autoOptions;
 
     m_switchPositions = new DigitalInput[ports.length];
@@ -39,7 +47,7 @@ private int getSwitchPosition() {
 
   private ChoreoAuto findMatchingOption() {
     int switchPosition = getSwitchPosition();
-    AllianceColor color = m_allianceSelector.getAllianceColor();
+    Alliance color = m_allianceColorSupplier.get();
 
     for (int i = 0; i < m_autoOptions.size(); i++) {
       if (m_autoOptions.get(i).getColor() == color)
@@ -52,7 +60,7 @@ private ChoreoAuto findMatchingOption() {
 
   private boolean updateAuto() {
     ChoreoAuto m_newAuto = findMatchingOption();
-    if (m_newAuto == m_currentAuto) return false;
+    if (m_newAuto.equals(m_currentAuto)) return false;
     else {
       m_currentAuto = m_newAuto;
       return true;
@@ -61,19 +69,19 @@ private boolean updateAuto() {
 
   public BooleanEvent changedAuto = new BooleanEvent(m_loop, () -> updateAuto());
 
+  /** Schedules the command corresponding to the selected autonomous mode */
   public void scheduleAuto() {
     if (m_currentAuto != null) m_currentAuto.schedule();
   }
 
+  /** Deschedules the command corresponding to the selected autonomous mode */
   public void cancelAuto() {
     if (m_currentAuto != null) m_currentAuto.cancel();
   }
 
   public void disabledPeriodic() {
     m_loop.poll();
 
-    m_allianceSelector.changedAlliance.ifHigh(() -> updateAuto());
-
     if (m_currentAuto != null) {
       SmartDashboard.putString("Auto", m_currentAuto.getName());
     } else {

src/main/java/frc/robot/Constants.java

@@ -163,12 +163,6 @@ public static final class XBox {
   }
 
   public static final class AutoConstants {
-
-    public static enum AllianceColor {
-      Red,
-      Blue
-    }
-
     public static final int kAllianceColorSelectorPort = 10;
 
     // max length is 8

src/main/java/frc/robot/Robot.java

@@ -4,6 +4,7 @@
 
 import edu.wpi.first.wpilibj.DataLogManager;
 import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.PowerDistribution;
 import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
 import edu.wpi.first.wpilibj.TimedRobot;
@@ -18,7 +19,6 @@
 import frc.lib.ControllerPatroller;
 import frc.lib.SendableZorroController;
 import frc.robot.Constants.AutoConstants;
-import frc.robot.Constants.AutoConstants.AllianceColor;
 import frc.robot.Constants.DriveConstants;
 import frc.robot.Constants.OIConstants;
 import frc.robot.Constants.OIConstants.Zorro;
@@ -49,7 +49,9 @@ public Robot() {
     m_allianceSelector = new AllianceSelector(AutoConstants.kAllianceColorSelectorPort);
     m_autoSelector =
         new AutoSelector(
-            AutoConstants.kAutonomousModeSelectorPorts, m_allianceSelector, m_autoOptions);
+            AutoConstants.kAutonomousModeSelectorPorts,
+            m_allianceSelector::getAllianceColor,
+            m_autoOptions);
 
     m_swerve = new Drivetrain(m_allianceSelector::fieldRotated);
 
@@ -158,8 +160,8 @@ private void configureDriverButtonBindings() {
   private void configureOperatorButtonBindings() {}
 
   private void configureAutoOptions() {
-    m_autoOptions.add(new AutoOption(AllianceColor.Red, 1, new ExampleAuto()));
-    m_autoOptions.add(new AutoOption(AllianceColor.Blue, 1));
+    m_autoOptions.add(new AutoOption(Alliance.Red, 1, new ExampleAuto()));
+    m_autoOptions.add(new AutoOption(Alliance.Blue, 1));
   }
 
   /**