clean up and document auto code

add more documentation and make some of the code neater

Author: kevinzwang

Robot2018/src/org/usfirst/frc/team199/Robot2018/Robot.java

@@ -84,13 +84,13 @@ public void robotInit() {
 		rd = new RightDrive();
 		oi = new OI();
 
-		// put in position chooer
+		// auto position chooser
 		for (Position p : Position.values()) {
 			posChooser.addObject(p.getSDName(), p);
 		}
 		SmartDashboard.putData("Starting Position", posChooser);
 
-		// put in strategy choosers
+		// auto strategy choosers
 		for (String input : fmsPossibilities) {
 			SendableChooser<Strategy> chooser = new SendableChooser<Strategy>();
 			for (Strategy s : Strategy.values()) {
@@ -100,8 +100,10 @@ public void robotInit() {
 			stratChoosers.put(input, chooser);
 		}
 
+		// auto delay chooser
 		SmartDashboard.putNumber("Auto Delay", 0);
-
+		
+		// parse scripts from Preferences, which maintains values throughout reboots
 		autoScripts = AutoUtils.parseScriptFile(Preferences.getInstance().getString("autoscripts", ""));
 
 		listen = new Listener();
@@ -123,15 +125,9 @@ public void disabledPeriodic() {
 	}
 
 	/**
-	 * This autonomous (along with the chooser code above) shows how to select
-	 * between different autonomous modes using the dashboard. The sendable chooser
-	 * code works with the Java SmartDashboard. If you prefer the LabVIEW Dashboard,
-	 * remove all of the chooser code and uncomment the getString code to get the
-	 * auto name from the text box below the Gyro
-	 *
-	 * You can add additional auto modes by adding additional commands to the
-	 * chooser code above (like the commented example) or additional comparisons
-	 * to the switch structure below with additional strings &amp; commands.
+	 * This function is called once during the start of autonomous in order to 
+	 * grab values from SmartDashboard and the FMS and call the Autonomous
+	 * command with those values.
 	 */
 	@Override
 	public void autonomousInit() {

Robot2018/src/org/usfirst/frc/team199/Robot2018/autonomous/AutoUtils.java

@@ -26,7 +26,7 @@ public static Map<String, ArrayList<String[]>> parseScriptFile(String scriptFile
 			// remove comments
 			int commentIndex = line.indexOf("#");
 			if (commentIndex != -1)
-				line = line.substring(0, line.indexOf("#"));
+				line = line.substring(0, commentIndex);
 
 			// trim and remove extra whitespace just to make it neater
 			line = line.trim().replaceAll("\\s+", " ");
@@ -40,7 +40,7 @@ public static Map<String, ArrayList<String[]>> parseScriptFile(String scriptFile
 			if (line.endsWith(":")) {
 				autoScripts.put(currScriptName, currScript);
 				currScript = new ArrayList<String[]>();
-				currScriptName = line.substring(0, line.indexOf(":"));
+				currScriptName = line.substring(0, line.length() - 1);
 			} else {
 
 				// first separate the command into instruction and args

Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/Autonomous.java

@@ -107,6 +107,7 @@ public Autonomous(Position startPos, Map<String, Strategy> strategies, double de
     		else
     			scriptName += "x";
 
+    		// this is here because running this code outside of the RoboRIO is problematic
     		if (!isTest) {
 	    		addSequential(new WaitCommand(delay));
 	    		addSequential(new RunScript(scriptName));