autonchooser implemented?

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

@@ -15,8 +15,11 @@
 
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.auto.NamedCommands;
+import com.pathplanner.lib.commands.PathPlannerAuto;
+
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@@ -59,6 +62,10 @@
 import frc.robot.subsystems.wrist.WristIO;
 import frc.robot.subsystems.wrist.WristIOSim;
 import frc.robot.subsystems.wrist.WristIOSparkMax;
+
+import java.util.ArrayList;
+import java.util.List;
+
 import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;
 import org.littletonrobotics.junction.networktables.LoggedDashboardNumber;
 
@@ -173,7 +180,32 @@ public RobotContainer() {
                 sIntake)
             .withTimeout(5.0));
 
-    autoChooser = new LoggedDashboardChooser<>("Auto Choices", AutoBuilder.buildAutoChooser());
+    // Build SmartDashboard auto chooser
+    if (!AutoBuilder.isConfigured()) {
+        throw new RuntimeException(
+            "AutoBuilder was not configured before attempting to build auto chooser");
+        }
+
+    SendableChooser<Command> chooser = new SendableChooser<>();
+    // ! Add new autos here. The autogenerated one is bad because it includes all of the ones in the chache of the RoboRIO.
+    String[] autoNames =
+    new String[] {
+        "BlueLClose3",
+        "BlueLMid3",
+        "BlueLClose3Mid1Far"
+    };
+
+
+    chooser.setDefaultOption("None", Commands.none());
+    List<PathPlannerAuto> options = new ArrayList<>();
+
+    for (String autoName : autoNames) {
+      PathPlannerAuto auto = new PathPlannerAuto(autoName);
+        options.add(auto);
+    }
+
+    options.forEach(auto -> chooser.addOption(auto.getName(), auto));
+    autoChooser = new LoggedDashboardChooser<>("Auto Choices", chooser);
 
     // Set up feedforward characterization
     autoChooser.addOption(

src/main/java/frc/robot/commands/ControlCommands/ArmCommands.java

@@ -22,7 +22,7 @@
 public class ArmCommands {
   private static final double DEADBAND = 0.3;
   private static final double MAXRPM =
-      0.1; // TODO idk what a realistic one is so this is roughly 90 degrees per 2 seconds
+      0.1;
 
   private ArmCommands() {}