actually use dynamic autos

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

@@ -7,6 +7,7 @@
 
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 
@@ -102,6 +103,23 @@ public void autonomousInit() {
 
     // if autonomousRoutine is custom use RobotContainer.fullAuto(start, note...)
     // somehow get and parse a string from glass for start and note...
+    if (autonomousRoutine.getName().equals("Dynamic")) {
+      String commandString = SmartDashboard.getString("DynamicAutoString", "");
+      String[] split = commandString.split(" ");
+      String[] notePoseStrings = new String[split.length - 1];
+
+      for (int i = 1; i < split.length; i++) {
+        notePoseStrings[i] = split[i];
+      }
+
+      if (commandString.equals("")) {
+        autonomousRoutine = robotContainer.fullAuto("center");
+      } else {
+        autonomousRoutine = robotContainer.fullAuto(split[0], notePoseStrings);
+      }
+
+    }
+
     if (autonomousRoutine != null) {
       autonomousRoutine.schedule();
     }

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

@@ -34,6 +34,7 @@
 import edu.wpi.first.wpilibj2.command.WaitCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
+import frc.robot.commands.Dynamic;
 import frc.robot.commands.arm.SetArmState;
 import frc.robot.commands.drive.AutoIntake;
 import frc.robot.commands.drive.AutoPickupNote;
@@ -352,7 +353,9 @@ private void configureAutonmous() {
 
     autoBuilder = new AutoBuilder();
     autoChooser = AutoBuilder.buildAutoChooser();
+    autoChooser.addOption("Dynamic", new Dynamic());
     SmartDashboard.putData("Auto Chooser", autoChooser);
+    SmartDashboard.putString("DynamicAutoString", "");
 
     configurePathPlannerLogging();
   }

src/main/java/frc/robot/commands/Dynamic.java

@@ -0,0 +1,33 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+public class Dynamic extends Command {
+  /** Creates a new Dynamic. */
+  public Dynamic() {
+    this.setName("Dynamic");
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return true;
+  }
+}