the autoSwitch should theoretically work

Author: PotatoBoyH4

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

@@ -616,19 +616,6 @@ public void configTestDash() {
         .withPosition(1, 0)
         .withSize(1, 1);
 
-    Shuffleboard.getTab("Test")
-        .add("Start Auton", processorShallowAutonCommand)
-        .withPosition(3, 0)
-        .withSize(1, 1);
-
-    Shuffleboard.getTab("Test")
-        .add(
-            "reAssign Alliance",
-            new InstantCommand(() -> processorShallowAutonCommand.reassignAlliance())
-                .ignoringDisable(true))
-        .withPosition(4, 0)
-        .withSize(1, 1);
-
     Shuffleboard.getTab("Test")
         .add("Zero Wheels", new InstantCommand(() -> driveSubsystem.lockZero(), driveSubsystem))
         .withPosition(5, 0)

src/main/java/frc/robot/commands/auton/DefaultAutonCommand.java

@@ -20,6 +20,7 @@ public DefaultAutonCommand(
       ElevatorSubsystem elevatorSubsystem,
       String pathName,
       Pose2d startPose) {
+    this.driveSubsystem = driveSubsystem;
     path = new DriveAutonCommand(driveSubsystem, "defaultAuton", true, true, false);
 
     addCommands(

src/main/java/frc/robot/commands/auton/ToggleVirtualSwitchCommand.java

@@ -14,4 +14,9 @@ public ToggleVirtualSwitchCommand(AutoSwitch autoSwitch) {
   public void initialize() {
     autoSwitch.toggleVirtualSwitch();
   }
+
+  @Override
+  public boolean runsWhenDisabled() {
+      return true;
+  }
 }

src/main/java/frc/robot/subsystems/auto/AutoSwitch.java

@@ -189,7 +189,7 @@ private AutoCommandInterface getAutoCommand(int switchPos) {
 
   private void configSendableChooser() {
     sendableChooser.addOption("00 nonProcessor side, on j,k,l", 0x00);
-    sendableChooser.setDefaultOption("20 Processor side, on e,d,c", 0x20);
+    sendableChooser.addOption("20 Processor side, on e,d,c", 0x20);
     sendableChooser.setDefaultOption("30 Do Nothing", 0x30);
     SmartDashboard.putData("Auto Mode", sendableChooser);
   }