Fixed pathplanner

lib/RoboLib

@@ -1 +1 @@
-Subproject commit eea76939a3cbb76aba47874adf15eaf49a8333de
+Subproject commit 30421c381aaa883745985b7852f90da5bc42b624

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

@@ -55,8 +55,9 @@ public class Robot extends LoggedRobot {
   @Override
   public void robotInit() {
 
+    String swVersion = getVersion();
     Logger.recordMetadata("ProjectName", "MyProject"); // Set a metadata value
-    Logger.recordMetadata("Software Version", getVersion());
+    Logger.recordMetadata("Software Version", swVersion);
 
     if (isReal()) {
       Logger.addDataReceiver(new WPILOGWriter()); // Log to a USB stick ("/U/logs")
@@ -75,7 +76,9 @@ public class Robot extends LoggedRobot {
     Logger.start(); // Start logging! No more data receivers, replay sources, or metadata values may
                     // be added.
 
-    Logger.recordOutput("Software Version", getVersion());
+    // Print out software version
+    Logger.recordOutput("Software Version", swVersion);
+    System.out.println("Robot Software Version: " + swVersion);
 
     // Instantiate our RobotContainer. This will perform all our button bindings,
     // and put our

src/main/java/frc/robot/RobotContainer.java

@@ -43,8 +43,6 @@ public class RobotContainer {
 
   // private final CommandPS4Controller m_driverController = new CommandPS4Controller(OperatorConstants.kDriverControllerPort);
 
-  private final SendableChooser<Command> autoChooser;
-
   public final DriveSubsystem driveSubsystem = new DriveSubsystem(m_driverController);
 
   public final IntakeSubsystem intakeSubsystem = new IntakeSubsystem();
@@ -56,9 +54,6 @@ public class RobotContainer {
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
 
-    autoChooser = AutoBuilder.buildAutoChooser();
-    SmartDashboard.putData("Auto Chooser", autoChooser);
-
     // Configure the trigger bindings
     configureBindings();
 
@@ -100,6 +95,6 @@ public class RobotContainer {
    */
   public Command getAutonomousCommand() {
     // An example command will be run in autonomous
-    return autoChooser.getSelected();
+    return driveSubsystem.getAutoCommand();
   }
 }

src/main/java/frc/robot/subsystems/DriveSubsystem.java

@@ -16,6 +16,9 @@ import com.pathplanner.lib.controllers.PPHolonomicDriveController;
 
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 
@@ -23,6 +26,8 @@ import frc.robot.Constants;
 
 public class DriveSubsystem extends TestableSubsystem {
 
+    private SendableChooser<Command> autoChooser;
+
     private SwerveBuilder swerveBuilder = new SwerveBuilder();
     private SwerveDriveSystem driveSystem;
 
@@ -164,6 +169,9 @@ public class DriveSubsystem extends TestableSubsystem {
                     },
                     this);
 
+            autoChooser = AutoBuilder.buildAutoChooser();
+            SmartDashboard.putData("Auto Chooser", autoChooser);
+
         } catch (Exception e) {
             e.printStackTrace();
         }
@@ -182,6 +190,10 @@ public class DriveSubsystem extends TestableSubsystem {
         driveSystem.simulationPeriodic();
     }
 
+    public Command getAutoCommand(){
+        return autoChooser.getSelected();
+    }
+
     @PostTest()
     public void DriveSubsystem_CanDevicesConnected() {