added some more things for autonomous information

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

@@ -1,13 +1,15 @@
 package frc.lib;
 
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj2.command.Command;
 import choreo.auto.AutoRoutine;
 import java.util.Optional;
 
 public class AutoOption {
   private Alliance m_color;
   private int m_option;
   private Optional<AutoRoutine> m_auto;
+  private String name;
 
   /**
    * Constructs a selectable autonomous mode option
@@ -16,10 +18,11 @@ public class AutoOption {
    * @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, AutoRoutine auto) {
+  public AutoOption(Alliance color, int option, AutoRoutine auto, String name) {
     this.m_color = color;
     this.m_option = option;
     this.m_auto = Optional.of(auto);
+    this.name = name;
   }
 
   /**
@@ -51,7 +54,11 @@ public int getOption() {
   /**
    * @return The command which runs the selected autonomous mode
    */
-  public Optional<AutoRoutine> getChoreoAuto() {
-    return this.m_auto;
+  public Optional<Command> getAutoCommand() {
+    return Optional.of(this.m_auto.get().cmd());
+  }
+
+  public String getName() {
+    return this.name;
   }
 }

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

@@ -5,6 +5,7 @@
 import edu.wpi.first.wpilibj.event.BooleanEvent;
 import edu.wpi.first.wpilibj.event.EventLoop;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import choreo.auto.AutoRoutine;
 import java.util.List;
@@ -13,10 +14,11 @@
 
 public class AutoSelector {
 
-  private Optional<AutoRoutine> m_currentAuto;
+  private Optional<Command> m_currentAuto;
   private DigitalInput[] m_switchPositions;
   private Supplier<Alliance> m_allianceColorSupplier;
   private List<AutoOption> m_autoOptions;
+  private AutoOption m_autoOption;
   private EventLoop m_loop = new EventLoop();
   private BooleanEvent m_changedAutoSelection;
 
@@ -56,16 +58,16 @@ private Alliance getAllianceColor() {
     return m_allianceColorSupplier.get();
   }
 
-  private Optional<AutoRoutine> findMatchingOption() {
+  private Optional<Command> findMatchingOption() {
     return m_autoOptions.stream()
         .filter(o -> o.getColor() == getAllianceColor())
         .filter(o -> o.getOption() == getSwitchPosition())
         .findFirst()
-        .flatMap(AutoOption::getChoreoAuto);
+        .flatMap(AutoOption::getAutoCommand);
   }
 
   private boolean updateAuto() {
-    Optional<AutoRoutine> m_newAuto = findMatchingOption();
+    Optional<Command> m_newAuto = findMatchingOption();
     if (m_newAuto.equals(m_currentAuto)) return false;
     else {
       m_currentAuto = m_newAuto;
@@ -82,12 +84,12 @@ public Trigger getChangedAutoSelection() {
 
   /** Schedules the command corresponding to the selected autonomous mode */
   public void scheduleAuto() {
-    if (m_currentAuto.isPresent()) m_currentAuto.get().cmd().schedule(); 
+    m_currentAuto.ifPresent(o -> o.schedule()); 
   }
 
   /** Deschedules the command corresponding to the selected autonomous mode */
   public void cancelAuto() {
-    if (m_currentAuto.isPresent()) m_currentAuto.get().cmd().cancel();
+    m_currentAuto.ifPresent(o -> o.cancel());
   }
 
   public void disabledPeriodic() {
@@ -96,7 +98,7 @@ public void disabledPeriodic() {
     SmartDashboard.putNumber("Auto Selector Switch Position", getSwitchPosition());
 
     if (m_currentAuto.isPresent()) {
-      SmartDashboard.putString("Auto", m_currentAuto.get().toString());
+      SmartDashboard.putString("Auto", m_currentAuto.get().getName());
     } else {
       SmartDashboard.putString("Auto", "Null");
     }

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

@@ -189,7 +189,7 @@ private void configureEventBindings() {
 
   private void configureAutoOptions() {
     m_autoOptions.add(new AutoOption(Alliance.Red, 4));
-    m_autoOptions.add(new AutoOption(Alliance.Blue, 1, m_auto.exampleRoutine()));
+    m_autoOptions.add(new AutoOption(Alliance.Blue, 1, m_auto.exampleRoutine(), "exampleAuto"));
   }
 
   /**