public void roboInit(){
  autoSelector = new CommandSelector("Auto Mode");
		autoSelector.addCommand(new CenterGearAuton(autoSelector.getColor()));
		autoSelector.addCommand(new BoilerGearAuton(autoSelector.getColor()));
		autoSelector.addCommand(new LoadingStationGearAuton(autoSelector.getColor()));
		autoSelector.addCommand(new HopperAuton(autoSelector.getColor()));
		autoSelector.addCommand(new CenterGearAutonShooting(autoSelector.getColor()));
		autoSelector.addCommand(new DriveStraightEncoderGyro(SmartDashboard.getNumber("TUNE PID Distance", 0.0), 0.7, 6));
		autoSelector.addCommand(new StationaryGyroTurn(SmartDashboard.getNumber("TUNE PID Stat Angle", 0.0), 1));
}

...
  
public void disabledPeriodic() {

		//allows us to reset the gyro and both encoders while disabled
		if(OI.driver.getButtonSt()){
			drivetrain.reset();
		}

		if(!(OI.operator.getButtonLB() && OI.operator.getButtonRB()))
			lookForAction = true;

		if(OI.operator.getButtonRB() && lookForAction){
			autoSelector.incrementKey(); 
			lookForAction = false;
		}
		if(OI.operator.getButtonLB() && lookForAction){
			autoSelector.decrementKey(); 
			lookForAction = false;
		}

		if(OI.operator.getButtonX())
			autoSelector.setColorToBlue();
		if(OI.operator.getButtonB())
			autoSelector.setColorToRed();
}

...
  
public void autonomousInit() {
  
  autonomousCommand = autoSelector.getSelected();
		String teamColor = autoSelector.getColor();
		
		if(autonomousCommand.getName().equals("CenterGear & Shoot")){
			if(teamColor.equals("RED"))
				visionTable.setVisionOffset(-60.0);
			else
				visionTable.setVisionOffset(60.0);
		}
		System.out.println("***Starting "+autonomousCommand.getName()+" AutoMode***");

		if (autonomousCommand != null)
			autonomousCommand.start();
}