Add AdvantageKit auto chooser

docs/choreolib/auto-factory.md

@@ -309,3 +309,90 @@ public class Robot extends TimedRobot {
     }
 }
 ```
+
+## AutoChooser for AdvantageKit Users
+Choreo's base `AutoChooser` does not support log replay. AdvantageKit users should instead copy-and-paste the code below, and use the `AutoChooserAK` class instead of the base `AutoChooser` class.
+
+!!! tip
+    `AutoChooserAK` will automatically register the auto chooser to smart dashboard, meaning that
+    a manual `SmartDashboard.putData` call is no longer necessary.
+
+```java title="LoggedAutoChooser.java"
+package your.lib.folder;
+
+import choreo.auto.AutoRoutine;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
+import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;
+
+import java.util.HashMap;
+import java.util.Optional;
+import java.util.function.Supplier;
+
+/** A replacement for choreo's {@link choreo.auto.AutoChooser} that works with AdvantageKit. */
+public class LoggedAutoChooser {
+    private static final String NONE_NAME = "No Auto";
+
+    private final LoggedDashboardChooser<String> impl;
+    private final HashMap<String, Supplier<Command>> choices = new HashMap<>();
+    private Optional<DriverStation.Alliance> alliance = Optional.empty();
+    private Command selectedAuto = Commands.none();
+
+    public LoggedAutoChooser(String name) {
+        impl = new LoggedDashboardChooser<>(name);
+        impl.onChange(this::onChange);
+        new Trigger(() -> !DriverStation.getAlliance().equals(alliance))
+            .and(DriverStation::isDisabled)
+            .onTrue(
+                Commands.runOnce(() -> onChange(impl.get()))
+                    .ignoringDisable(true)
+                    .withName("Auto Chooser Alliance Handler")
+            );
+        choices.put(NONE_NAME, Commands::none);
+        impl.addDefaultOption(NONE_NAME, NONE_NAME);
+    }
+
+    private void onChange(String option) {
+        alliance = DriverStation.getAlliance();
+        selectedAuto = alliance.isEmpty() ? Commands.none() : choices.get(option).get();
+    }
+
+    /**
+     * Adds a Command to the auto chooser.
+     * @see choreo.auto.AutoChooser#addCmd
+     */
+    public LoggedAutoChooser addCmd(String name, Supplier<Command> commandSupplier) {
+        choices.put(name, commandSupplier);
+        impl.addOption(name, name);
+        return this;
+    }
+
+    /**
+     * Add an AutoRoutine to the chooser.
+     * @see choreo.auto.AutoChooser#addRoutine
+     */
+    public LoggedAutoChooser addRoutine(String name, Supplier<AutoRoutine> routineSupplier) {
+        return addCmd(name, () -> routineSupplier.get().cmd());
+    }
+
+    /**
+     * Returns the currently selected command.
+     *
+     * @see choreo.auto.AutoChooser#selectedCommand
+     */
+    public Command selectedCommand() {
+      return selectedAuto;
+    }
+
+    /**
+     * Gets a Command that schedules the selected auto routine.
+     *
+     * @see AutoChooser#selectedCommandScheduler
+     */
+    public Command selectedCommandScheduler() {
+        return Commands.deferredProxy(() -> selectedAuto).withName("Autonomous Scheduler");
+    }
+}
+```