implemented the new SelectableBuilder

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

@@ -7,6 +7,8 @@
 import com.ThePinkAlliance.core.joystick.Joystick;
 import com.ThePinkAlliance.core.joystick.JoystickAxis;
 import com.ThePinkAlliance.core.pathweaver.PathChooser;
+import com.ThePinkAlliance.core.selectable.CommandSelectable;
+import com.ThePinkAlliance.core.selectable.SelectableBuilder;
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -42,6 +44,11 @@ public class RobotContainer {
 
   private final PathChooser m_pathChooser = new PathChooser("drivers", 2, 0);
 
+  private final CommandSelectable defaultSelectable = SelectableBuilder.buildCommand(
+    "Drive Straight",
+    new InstantCommand()
+  );
+
   // The robot's subsystems and commands are defined here...
   private final Base m_base = new Base();
 
@@ -55,8 +62,8 @@ public RobotContainer() {
   }
 
   public void configureDashboard() {
-    m_pathChooser.register(new DriveStraight());
-    m_pathChooser.registerDefault(new DriveStraight());
+    m_pathChooser.register(defaultSelectable);
+    m_pathChooser.registerDefault(defaultSelectable);
   }
 
   /**
@@ -75,7 +82,7 @@ private void configureButtonBindings() {
    * @return the command to run in autonomous
    */
   public Command getAutonomousCommand() {
-    // An ExampleCommand will run in autonomous
-    return new InstantCommand();
+    // Resolves the selected command that will run in autonomous
+    return m_pathChooser.get();
   }
 }

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

@@ -133,22 +133,6 @@ public Base() {
     this.configurePods();
   }
 
-  public void configurePods() {
-    this.frontLeftModule.configRampRate(
-        Constants.frontLeftConfig.getDriveRampRate()
-      );
-    this.frontRightModule.configRampRate(
-        Constants.frontRightConfig.getDriveRampRate()
-      );
-
-    this.backLeftModule.configRampRate(
-        Constants.backLeftConfig.getDriveRampRate()
-      );
-    this.backRightModule.configRampRate(
-        Constants.backRightConfig.getDriveRampRate()
-      );
-  }
-
   /**
    * Takes ChassisSpeed object and converts it to swerve module states to send to all the modules.
    *
@@ -300,4 +284,20 @@ public void periodic() {
     // This method will be called once per scheduler run
     setStates(this.states);
   }
+
+  private void configurePods() {
+    this.frontLeftModule.configRampRate(
+        Constants.frontLeftConfig.getDriveRampRate()
+      );
+    this.frontRightModule.configRampRate(
+        Constants.frontRightConfig.getDriveRampRate()
+      );
+
+    this.backLeftModule.configRampRate(
+        Constants.backLeftConfig.getDriveRampRate()
+      );
+    this.backRightModule.configRampRate(
+        Constants.backRightConfig.getDriveRampRate()
+      );
+  }
 }