[cmd] Add Commands.choose (aka SendableChooserCommand)

[Starlight220]

No description provided.

[Alextopher]

I implemented something similar recently.

The Consumer<Sendable> rubs me the wrong way (so does hard coding SmartDashboard like I did). It's a good way to add this change within the existing APIs. I'm just not a fan of how this singular idea SendableChooserCommand requires putting 2 things onto a Dashboard for complete functionality.

Command chooser = Commands.choose(
   chooser -> SmartDashboard.putData("Drive Command Chooser", chooser),
   tankDrive, arcadeDrive, curvatureDrive
);
SmartDashboard.putData("Drive Command", chooser);

I wonder if this change could increase in scope and if SendableChooserCommand could be a new, unique, widget (setSmartDashboardType()), on the same footing as "Command" or "String Chooser".

var chooser = new SendableChooserCommand(tankDrive, arcadeDrive, curvatureDrive);
// Does nothing unless sent to a Dashboard
SmartDashboard.putData("Drive Command", chooser);

[Starlight220]

Why do you need to publish the command to the dashboard?

[Alextopher]

Dashboards support starting and stopping commands that you upload.

https://docs.wpilib.org/en/stable/docs/software/dashboards/shuffleboard/advanced-usage/shuffleboard-commands-subsystems.html#displaying-commands

https://docs.wpilib.org/en/stable/docs/software/dashboards/glass/command-based-widgets.html

[Starlight220]

Sure. That's separate functionality, and isn't needed for SendableChooserCommand.

The primary use case for SendableChooser is selecting a command for auto, and the SendableChooser needs to be published for selections to be possible; there's no need (and practically no benefit) to put the command on the dashboard as well.

[KangarooKoala]

#7340 might be resolved by this, though the discussion of the impl in that issue is different from the impl in this PR. (Hence why I'm avoiding the auto-linking words for now)

[Starlight220]

Wow I forgot I wrote this. This PR does what I was thinking of in that issue.

Is this missing something?

[Daniel1464]

I think there should be an overload that accepts a string and a command vararg in addition to the sendable chooser lambda overload.

[Starlight220]

What would that string be used for, and what's the motivation for that overload?

[Daniel1464]

What would that string be used for, and what's the motivation for that overload?

Commands.choose(
      "AutoCommandChoice",
       commands
)

Commands.choose(
      (chooser) -> SmartDashboard.putData("AutoCommandChoice", chooser),
      commands
)

[Starlight220]

It shouldn't be coupled to SmartDashboard.

Accepting an absolute NT key would be good, though.

[KangarooKoala]

There doesn't appear to be a standard way to add a sendable to an arbitrary NT key, unfortunately. Maybe fix the merge conflicts for this PR and make an issue to add that capacity later?