From 3b9b0057f6a4ffc23dd040f805b4bc72e1454ecd Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Tue, 16 Jul 2024 10:51:13 -0700
Subject: [PATCH 1/9] Panel to pick a control scheme and brain configuration
 events

---
 fission/src/Synthesis.tsx                     |  14 +-
 fission/src/mirabuf/MirabufSceneObject.ts     |   4 -
 fission/src/systems/input/DefaultInputs.ts    | 127 +++++++++++++++++-
 fission/src/systems/input/InputSystem.ts      |   4 +-
 .../systems/preferences/PreferencesSystem.ts  |   2 +-
 .../synthesis_brain/SynthesisBrain.ts         |  34 ++++-
 .../modals/configuring/ChangeInputsModal.tsx  |   4 +-
 .../configuring/ResetAllInputsModal.tsx       |   2 +-
 .../configuring/ChooseInputSchemePanel.tsx    |  27 ++++
 .../ui/panels/mirabuf/ImportMirabufPanel.tsx  |   5 +-
 10 files changed, 192 insertions(+), 31 deletions(-)
 create mode 100644 fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index d303e6c0b3..d9ad0a1d8b 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -1,9 +1,4 @@
 import Scene from "@/components/Scene.tsx"
-import MirabufSceneObject from "./mirabuf/MirabufSceneObject.ts"
-import MirabufCachingService, { MiraType } from "./mirabuf/MirabufLoader.ts"
-import { mirabuf } from "./proto/mirabuf"
-import MirabufParser, { ParseErrorSeverity } from "./mirabuf/MirabufParser.ts"
-import MirabufInstance from "./mirabuf/MirabufInstance.ts"
 import { AnimatePresence } from "framer-motion"
 import { ReactElement, useEffect } from "react"
 import { ModalControlProvider, useModalManager } from "@/ui/ModalContext"
@@ -57,6 +52,7 @@ import APS from "./aps/APS.ts"
 import ImportMirabufPanel from "@/ui/panels/mirabuf/ImportMirabufPanel.tsx"
 import Skybox from "./ui/components/Skybox.tsx"
 import PokerPanel from "@/panels/PokerPanel.tsx"
+import ChooseInputSchemePanel from "./ui/panels/configuring/ChooseInputSchemePanel.tsx"
 
 const DEFAULT_MIRA_PATH = "/api/mira/Robots/Team 2471 (2018)_v7.mira"
 
@@ -96,7 +92,8 @@ function Synthesis() {
             console.debug(`Selected Mirabuf File: ${mira_path}`)
         }
 
-        const setup = async () => {
+        // TODO: do we actually want to spawn a robot right away when synthesis loads?
+        /* const setup = async () => {
             const info = await MirabufCachingService.CacheRemote(mira_path, MiraType.ROBOT)
                 .catch(_ => MirabufCachingService.CacheRemote(DEFAULT_MIRA_PATH, MiraType.ROBOT))
                 .catch(console.error)
@@ -117,9 +114,9 @@ function Synthesis() {
                 const mirabufSceneObject = new MirabufSceneObject(new MirabufInstance(parser), miraAssembly.info!.name!)
                 World.SceneRenderer.RegisterSceneObject(mirabufSceneObject)
             })()
-        }
+        } */
 
-        setup()
+        //setup()
 
         let mainLoopHandle = 0
         const mainLoop = () => {
@@ -226,6 +223,7 @@ const initialPanels: ReactElement[] = [
     <ZoneConfigPanel key="zone-config" panelId="zone-config" />,
     <ImportMirabufPanel key="import-mirabuf" panelId="import-mirabuf" />,
     <PokerPanel key="poker" panelId="poker" />,
+    <ChooseInputSchemePanel key="choose-scheme" panelId="choose-scheme" />,
 ]
 
 export default Synthesis
diff --git a/fission/src/mirabuf/MirabufSceneObject.ts b/fission/src/mirabuf/MirabufSceneObject.ts
index a7d05a7bb8..9a400048f3 100644
--- a/fission/src/mirabuf/MirabufSceneObject.ts
+++ b/fission/src/mirabuf/MirabufSceneObject.ts
@@ -229,10 +229,6 @@ class MirabufSceneObject extends SceneObject {
             World.PhysicsSystem.DisablePhysicsForBody(this._mechanism.GetBodyByNodeId(rn.id)!)
         })
     }
-
-    public GetRootNodeId(): Jolt.BodyID | undefined {
-        return this._mechanism.GetBodyByNodeId(this._mechanism.rootBody)
-    }
 }
 
 export async function CreateMirabuf(assembly: mirabuf.Assembly): Promise<MirabufSceneObject | null | undefined> {
diff --git a/fission/src/systems/input/DefaultInputs.ts b/fission/src/systems/input/DefaultInputs.ts
index ef436a0b48..be6087069e 100644
--- a/fission/src/systems/input/DefaultInputs.ts
+++ b/fission/src/systems/input/DefaultInputs.ts
@@ -2,13 +2,17 @@ import { AxisInput, Input, EmptyModifierState } from "./InputSystem"
 
 export type InputScheme = {
     schemeName: string
+    descriptiveName: string
+    customized: boolean
     usesGamepad: boolean
     inputs: Input[]
 }
 
 class DefaultInputs {
     private static wasd: InputScheme = {
-        schemeName: "WASD",
+        schemeName: "Ernie",
+        descriptiveName: "WASD",
+        customized: false,
         usesGamepad: false,
         inputs: [
             new AxisInput("arcadeDrive", "KeyW", "KeyS"),
@@ -48,7 +52,9 @@ class DefaultInputs {
     }
 
     private static arrowKeys: InputScheme = {
-        schemeName: "Arrow Keys",
+        schemeName: "Luna",
+        descriptiveName: "Arrow Keys",
+        customized: false,
         usesGamepad: false,
         inputs: [
             new AxisInput("arcadeDrive", "ArrowUp", "ArrowDown"),
@@ -88,7 +94,9 @@ class DefaultInputs {
     }
 
     private static fullController: InputScheme = {
-        schemeName: "Full Controller",
+        schemeName: "Jax",
+        descriptiveName: "Full Controller",
+        customized: false,
         usesGamepad: true,
         inputs: [
             new AxisInput("arcadeDrive", "", "", 1, true),
@@ -103,7 +111,9 @@ class DefaultInputs {
     }
 
     private static leftStick: InputScheme = {
-        schemeName: "Left Stick",
+        schemeName: "Hunter",
+        descriptiveName: "Left Stick",
+        customized: false,
         usesGamepad: true,
         inputs: [
             new AxisInput("arcadeDrive", "", "", 1, true),
@@ -115,7 +125,9 @@ class DefaultInputs {
     }
 
     private static rightStick: InputScheme = {
-        schemeName: "Right Stick",
+        schemeName: "Carmela",
+        descriptiveName: "Right Stick",
+        customized: false,
         usesGamepad: true,
         inputs: [
             new AxisInput("arcadeDrive", "", "", 3, true),
@@ -126,13 +138,116 @@ class DefaultInputs {
         ],
     }
 
-    public static ALL_INPUT_SCHEMES: InputScheme[] = [
+    public static AVAILABLE_INPUT_SCHEMES: InputScheme[] = [
         this.wasd,
         this.arrowKeys,
         this.fullController,
         this.leftStick,
         this.rightStick,
     ]
+
+    public static NAMES: string[] = [
+        "Kennedy",
+        "Duke",
+        "Bria",
+        "Creed",
+        "Angie",
+        "Moises",
+        "Hattie",
+        "Quinton",
+        "Luisa",
+        "Ocean",
+        "Marlowe",
+        "Jimmy",
+        "Brielle",
+        "Forest",
+        "Katherine",
+        "Cade",
+        "Kori",
+        "Myles",
+        "Valeria",
+        "Braylon",
+        "Gracelyn",
+        "Killian",
+        "Holland",
+        "Jake",
+        "Jovie",
+        "William",
+        "Makenzie",
+        "Eden",
+        "Mabel",
+        "Ian",
+        "Leilany",
+        "Jayson",
+        "Kylie",
+        "Cal",
+        "Juliet",
+        "Emory",
+        "Eden",
+        "Nathanael",
+        "Eloise",
+        "Darian",
+        "Shelby",
+        "Neil",
+        "Scarlett",
+        "Ace",
+        "Florence",
+        "Alessandro",
+        "Sariyah",
+        "Joey",
+        "Aubrie",
+        "Edward",
+        "Octavia",
+        "Bode",
+        "Aaliyah",
+        "Francis",
+        "Camilla",
+        "Wilson",
+        "Elaina",
+        "Kayson",
+        "Kara",
+        "Rey",
+        "Madison",
+        "Emir",
+        "Alaya",
+        "Finley",
+        "Jayleen",
+        "Joseph",
+        "Arianna",
+        "Samson",
+        "Ezra",
+        "Amias",
+        "Ellen",
+        "Zion",
+        "Harley",
+        "Abraham",
+        "Elaine",
+        "Conner",
+        "Jolene",
+        "Kylan",
+        "Aislinn",
+        "Omar",
+        "Skyla",
+        "Shepard",
+        "Jaylin",
+        "Osiris",
+        "Lilyana",
+        "Noe",
+        "Crystal",
+        "Jeffrey",
+        "Emily",
+        "Rayan",
+        "Elise",
+        "Forrest",
+        "Aarya",
+        "Beckett",
+        "Jacqueline",
+        "Kyle",
+        "Kailey",
+        "Hank",
+        "Alanna",
+        "Marco",
+    ]
 }
 
 export default DefaultInputs
diff --git a/fission/src/systems/input/InputSystem.ts b/fission/src/systems/input/InputSystem.ts
index 442c330a89..d5b650ddf7 100644
--- a/fission/src/systems/input/InputSystem.ts
+++ b/fission/src/systems/input/InputSystem.ts
@@ -248,7 +248,9 @@ class InputSystem extends WorldSystem {
 
         if (targetScheme == null || targetInput == null) return 0
 
-        return targetInput.getValue(targetScheme.usesGamepad)
+        // TODO
+        //return targetInput.getValue(targetScheme.usesGamepad)
+        return 0.0
     }
 
     // Returns true if two modifier states are identical
diff --git a/fission/src/systems/preferences/PreferencesSystem.ts b/fission/src/systems/preferences/PreferencesSystem.ts
index 9a34a08bb6..f79964f2ae 100644
--- a/fission/src/systems/preferences/PreferencesSystem.ts
+++ b/fission/src/systems/preferences/PreferencesSystem.ts
@@ -25,7 +25,7 @@ class PreferencesSystem {
     private static _localStorageKey = "Preferences"
 
     /** Event dispatched when any global preference is updated */
-    public static addEventListener(callback: (e: PreferenceEvent) => unknown) {
+    public static addEventListener(callback: (e: PreferenceEvent) => void) {
         window.addEventListener("preferenceChanged", callback as EventListener)
     }
 
diff --git a/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts b/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
index 9b33a0cbc5..fbe4941c77 100644
--- a/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
+++ b/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
@@ -18,7 +18,26 @@ import { AxisInput, ButtonInput, Input } from "@/systems/input/InputSystem"
 import DefaultInputs, { InputScheme } from "@/systems/input/DefaultInputs"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 
+class BrainConfiguredEvent extends Event {
+    public brainIndex: number
+    public schemeName: string
+
+    constructor(brainIndex: number, schemeName: string) {
+        super("brainConfigured")
+        this.brainIndex = brainIndex
+        this.schemeName = schemeName
+    }
+}
+
 class SynthesisBrain extends Brain {
+    public static triggerBrainConfiguredEvent(schemeName: string, brainIndex: number) {
+        window.dispatchEvent(new BrainConfiguredEvent(brainIndex, schemeName))
+    }
+
+    private static addBrainConfiguredEventListener(callback: (e: BrainConfiguredEvent) => void) {
+        window.addEventListener("brainConfigured", callback as EventListener)
+    }
+
     private _behaviors: Behavior[] = []
     private _simLayer: SimulationLayer
 
@@ -60,12 +79,13 @@ class SynthesisBrain extends Brain {
             this.configureArcadeDriveBehavior()
             this.configureArmBehaviors()
             this.configureElevatorBehaviors()
-            this.configureInputs()
         } else {
             this.configureField()
         }
 
         SynthesisBrain._currentRobotIndex++
+
+        SynthesisBrain.addBrainConfiguredEventListener(this.configureInputs)
     }
 
     public Enable(): void {}
@@ -84,7 +104,7 @@ class SynthesisBrain extends Brain {
     }
 
     // Creates an instance of ArcadeDriveBehavior and automatically configures it
-    public configureArcadeDriveBehavior() {
+    private configureArcadeDriveBehavior() {
         const wheelDrivers: WheelDriver[] = this._simLayer.drivers.filter(
             driver => driver instanceof WheelDriver
         ) as WheelDriver[]
@@ -136,7 +156,7 @@ class SynthesisBrain extends Brain {
     }
 
     // Creates instances of ArmBehavior and automatically configures them
-    public configureArmBehaviors() {
+    private configureArmBehaviors() {
         const hingeDrivers: HingeDriver[] = this._simLayer.drivers.filter(
             driver => driver instanceof HingeDriver
         ) as HingeDriver[]
@@ -159,7 +179,7 @@ class SynthesisBrain extends Brain {
     }
 
     // Creates instances of ElevatorBehavior and automatically configures them
-    public configureElevatorBehaviors() {
+    private configureElevatorBehaviors() {
         const sliderDrivers: SliderDriver[] = this._simLayer.drivers.filter(
             driver => driver instanceof SliderDriver
         ) as SliderDriver[]
@@ -181,7 +201,7 @@ class SynthesisBrain extends Brain {
         }
     }
 
-    private configureInputs() {
+    private configureInputs(_: BrainConfiguredEvent) {
         // Check for existing inputs
         const robotConfig = PreferencesSystem.getRobotPreferences(this._assemblyName)
         if (robotConfig.inputsSchemes[this._assemblyIndex] != undefined) {
@@ -191,10 +211,12 @@ class SynthesisBrain extends Brain {
 
         // Configure with default inputs
 
-        const scheme = DefaultInputs.ALL_INPUT_SCHEMES[SynthesisBrain._currentRobotIndex]
+        const scheme = DefaultInputs.AVAILABLE_INPUT_SCHEMES[SynthesisBrain._currentRobotIndex]
 
         robotConfig.inputsSchemes[this._assemblyIndex] = {
             schemeName: this._assemblyName,
+            descriptiveName: "",
+            customized: false,
             usesGamepad: scheme?.usesGamepad ?? false,
             inputs: [],
         }
diff --git a/fission/src/ui/modals/configuring/ChangeInputsModal.tsx b/fission/src/ui/modals/configuring/ChangeInputsModal.tsx
index 4f1d6d24ad..6f6cca9a93 100644
--- a/fission/src/ui/modals/configuring/ChangeInputsModal.tsx
+++ b/fission/src/ui/modals/configuring/ChangeInputsModal.tsx
@@ -389,7 +389,7 @@ const ChangeInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                                             <Dropdown
                                                 label={""}
                                                 // Moves the selected option to the start of the array
-                                                options={DefaultInputs.ALL_INPUT_SCHEMES.map(
+                                                options={DefaultInputs.AVAILABLE_INPUT_SCHEMES.map(
                                                     scheme => scheme.schemeName
                                                 )}
                                                 onSelect={value => {
@@ -400,7 +400,7 @@ const ChangeInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                                         <Button
                                             value={"Apply"}
                                             onClick={() => {
-                                                const scheme = DefaultInputs.ALL_INPUT_SCHEMES.find(
+                                                const scheme = DefaultInputs.AVAILABLE_INPUT_SCHEMES.find(
                                                     s => s.schemeName == chosenResetScheme
                                                 )
                                                 if (!selectedScheme || !scheme) return
diff --git a/fission/src/ui/modals/configuring/ResetAllInputsModal.tsx b/fission/src/ui/modals/configuring/ResetAllInputsModal.tsx
index 87471434d8..1301e9a00a 100644
--- a/fission/src/ui/modals/configuring/ResetAllInputsModal.tsx
+++ b/fission/src/ui/modals/configuring/ResetAllInputsModal.tsx
@@ -16,7 +16,7 @@ const ResetAllInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
             onAccept={() => {
                 let i = 0
                 InputSystem.allInputs.forEach(currentScheme => {
-                    const scheme = DefaultInputs.ALL_INPUT_SCHEMES[i]
+                    const scheme = DefaultInputs.AVAILABLE_INPUT_SCHEMES[i]
                     if (!currentScheme || !scheme) return
 
                     scheme.inputs.forEach(newInput => {
diff --git a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
new file mode 100644
index 0000000000..eaf489b5b7
--- /dev/null
+++ b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
@@ -0,0 +1,27 @@
+import Panel, { PanelPropsImpl } from "@/components/Panel"
+import Label from "@/ui/components/Label"
+import { usePanelControlContext } from "@/ui/PanelContext"
+import { useEffect } from "react"
+
+const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
+    const { closePanel } = usePanelControlContext()
+
+    useEffect(() => {
+        closePanel("import-mirabuf")
+    }, [])
+
+    return (
+        <Panel
+            name="Choose Input Scheme"
+            panelId={panelId}
+            openLocation={"right"}
+            sidePadding={8}
+            acceptEnabled={false}
+            cancelEnabled={false}
+        >
+            <Label>Test</Label>
+        </Panel>
+    )
+}
+
+export default ChooseInputSchemePanel
diff --git a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
index e4498c7e97..cfc4b67684 100644
--- a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
+++ b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
@@ -142,7 +142,7 @@ function SpawnCachedMira(info: MirabufCacheInfo, type: MiraType) {
 
 const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
     const { showTooltip } = useTooltipControlContext()
-    const { closePanel } = usePanelControlContext()
+    const { closePanel, openPanel } = usePanelControlContext()
 
     const [cachedRobots, setCachedRobots] = useState(GetCacheInfo(MiraType.ROBOT))
     const [cachedFields, setCachedFields] = useState(GetCacheInfo(MiraType.FIELD))
@@ -226,6 +226,8 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
             ])
 
             closePanel(panelId)
+
+            if (type == MiraType.ROBOT) openPanel("choose-scheme")
         },
         [showTooltip, closePanel, panelId]
     )
@@ -236,7 +238,6 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
             MirabufCachingService.CacheRemote(info.src, type).then(cacheInfo => {
                 cacheInfo && SpawnCachedMira(cacheInfo, type)
             })
-
             closePanel(panelId)
         },
         [closePanel, panelId]

From 534e7277290045c8337ef12a1bc702c3cf7c5216 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Wed, 17 Jul 2024 10:31:24 -0700
Subject: [PATCH 2/9] Input selection of default and custom named schemes

---
 fission/src/systems/input/DefaultInputs.ts    |  29 +---
 .../src/systems/input/InputSchemeManager.ts   |  47 ++++++
 fission/src/systems/input/InputSystem.ts      |  12 +-
 .../systems/preferences/PreferenceTypes.ts    |   4 +-
 .../behavior/ArcadeDriveBehavior.ts           |  13 +-
 .../simulation/behavior/GenericArmBehavior.ts |  18 +--
 .../behavior/GenericElevatorBehavior.ts       |  18 +--
 .../synthesis_brain/SynthesisBrain.ts         | 143 ++++++++----------
 .../modals/configuring/ChangeInputsModal.tsx  |   6 +-
 .../configuring/ResetAllInputsModal.tsx       |   4 +-
 .../configuring/ChooseInputSchemePanel.tsx    |  44 +++++-
 .../ui/panels/mirabuf/ImportMirabufPanel.tsx  |   2 +
 12 files changed, 187 insertions(+), 153 deletions(-)
 create mode 100644 fission/src/systems/input/InputSchemeManager.ts

diff --git a/fission/src/systems/input/DefaultInputs.ts b/fission/src/systems/input/DefaultInputs.ts
index be6087069e..ae43a25ebd 100644
--- a/fission/src/systems/input/DefaultInputs.ts
+++ b/fission/src/systems/input/DefaultInputs.ts
@@ -1,15 +1,8 @@
-import { AxisInput, Input, EmptyModifierState } from "./InputSystem"
-
-export type InputScheme = {
-    schemeName: string
-    descriptiveName: string
-    customized: boolean
-    usesGamepad: boolean
-    inputs: Input[]
-}
+import { InputScheme } from "./InputSchemeManager"
+import { AxisInput, EmptyModifierState } from "./InputSystem"
 
 class DefaultInputs {
-    private static wasd: InputScheme = {
+    public static ernie: InputScheme = {
         schemeName: "Ernie",
         descriptiveName: "WASD",
         customized: false,
@@ -51,7 +44,7 @@ class DefaultInputs {
         ],
     }
 
-    private static arrowKeys: InputScheme = {
+    public static luna: InputScheme = {
         schemeName: "Luna",
         descriptiveName: "Arrow Keys",
         customized: false,
@@ -93,7 +86,7 @@ class DefaultInputs {
         ],
     }
 
-    private static fullController: InputScheme = {
+    public static jax: InputScheme = {
         schemeName: "Jax",
         descriptiveName: "Full Controller",
         customized: false,
@@ -110,7 +103,7 @@ class DefaultInputs {
         ],
     }
 
-    private static leftStick: InputScheme = {
+    public static hunter: InputScheme = {
         schemeName: "Hunter",
         descriptiveName: "Left Stick",
         customized: false,
@@ -124,7 +117,7 @@ class DefaultInputs {
         ],
     }
 
-    private static rightStick: InputScheme = {
+    public static carmela: InputScheme = {
         schemeName: "Carmela",
         descriptiveName: "Right Stick",
         customized: false,
@@ -138,14 +131,6 @@ class DefaultInputs {
         ],
     }
 
-    public static AVAILABLE_INPUT_SCHEMES: InputScheme[] = [
-        this.wasd,
-        this.arrowKeys,
-        this.fullController,
-        this.leftStick,
-        this.rightStick,
-    ]
-
     public static NAMES: string[] = [
         "Kennedy",
         "Duke",
diff --git a/fission/src/systems/input/InputSchemeManager.ts b/fission/src/systems/input/InputSchemeManager.ts
new file mode 100644
index 0000000000..65ee04e412
--- /dev/null
+++ b/fission/src/systems/input/InputSchemeManager.ts
@@ -0,0 +1,47 @@
+import PreferencesSystem from "../preferences/PreferencesSystem"
+import DefaultInputs from "./DefaultInputs"
+import InputSystem, { Input } from "./InputSystem"
+
+export type InputScheme = {
+    schemeName: string
+    descriptiveName: string
+    customized: boolean
+    usesGamepad: boolean
+    inputs: Input[]
+}
+
+class InputSchemeManager {
+    private static _defaultInputSchemes: InputScheme[] = [
+        DefaultInputs.ernie,
+        DefaultInputs.luna,
+        DefaultInputs.jax,
+        DefaultInputs.hunter,
+        DefaultInputs.carmela,
+    ]
+
+    /** Fetches custom input schemes from preferences manager */
+    private static get _customInputSchemes(): InputScheme[] {
+        return PreferencesSystem.getGlobalPreference<InputScheme[]>("InputSchemes")
+    }
+
+    /** Creates an array of every input scheme that is either a default or customized by the user. Custom themes will appear on top. */
+    public static get AVAILABLE_INPUT_SCHEMES(): InputScheme[] {
+        // Start with custom input schemes
+        const availableSchemes = this._customInputSchemes
+
+        // Add default schemes that have not been customized
+        this._defaultInputSchemes.forEach(defaultScheme => {
+            if (availableSchemes.includes(defaultScheme)) return
+
+            availableSchemes.push(defaultScheme)
+        })
+
+        // Remove schemes that are in use
+        const schemesInUse = Array.from(InputSystem.brainIndexSchemeMap.values())
+        availableSchemes.filter(scheme => !schemesInUse.includes(scheme))
+
+        return InputSchemeManager._defaultInputSchemes
+    }
+}
+
+export default InputSchemeManager
diff --git a/fission/src/systems/input/InputSystem.ts b/fission/src/systems/input/InputSystem.ts
index d5b650ddf7..786a7c0960 100644
--- a/fission/src/systems/input/InputSystem.ts
+++ b/fission/src/systems/input/InputSystem.ts
@@ -1,6 +1,5 @@
 import WorldSystem from "../WorldSystem"
-import PreferencesSystem from "../preferences/PreferencesSystem"
-import { InputScheme } from "./DefaultInputs"
+import { InputScheme } from "./InputSchemeManager"
 
 export type ModifierState = {
     alt: boolean
@@ -155,6 +154,9 @@ class InputSystem extends WorldSystem {
     // The scheme most recently selected in the controls modal
     public static selectedScheme: InputScheme | undefined
 
+    // Maps a brain index to a certain input scheme
+    public static brainIndexSchemeMap: Map<number, InputScheme> = new Map()
+
     constructor() {
         super()
 
@@ -241,15 +243,15 @@ class InputSystem extends WorldSystem {
     }
 
     // If an input exists, return it's value
-    public static getInput(inputName: string, assemblyName: string, assemblyIndex: number): number {
-        const targetScheme = PreferencesSystem.getRobotPreferences(assemblyName).inputsSchemes[assemblyIndex]
+    public static getInput(inputName: string, brainIndex: number): number {
+        const targetScheme = InputSystem.brainIndexSchemeMap.get(brainIndex)
 
         const targetInput = targetScheme?.inputs.find(input => input.inputName == inputName) as Input
 
         if (targetScheme == null || targetInput == null) return 0
 
         // TODO
-        //return targetInput.getValue(targetScheme.usesGamepad)
+        return targetInput.getValue(targetScheme.usesGamepad)
         return 0.0
     }
 
diff --git a/fission/src/systems/preferences/PreferenceTypes.ts b/fission/src/systems/preferences/PreferenceTypes.ts
index 03ed82f0db..9e204f2884 100644
--- a/fission/src/systems/preferences/PreferenceTypes.ts
+++ b/fission/src/systems/preferences/PreferenceTypes.ts
@@ -1,5 +1,5 @@
 import { Vector3Tuple, Vector4Tuple } from "three"
-import { InputScheme } from "../input/DefaultInputs"
+import { InputScheme } from "../input/InputSchemeManager"
 
 export type GlobalPreference =
     | "ScreenMode"
@@ -10,6 +10,7 @@ export type GlobalPreference =
     | "ReportAnalytics"
     | "UseMetric"
     | "RenderScoringZones"
+    | "InputSchemes"
 
 export const RobotPreferencesKey: string = "Robots"
 export const FieldPreferencesKey: string = "Fields"
@@ -23,6 +24,7 @@ export const DefaultGlobalPreferences: { [key: string]: unknown } = {
     ReportAnalytics: false,
     UseMetric: false,
     RenderScoringZones: true,
+    InputSchemes: [],
 }
 
 export type IntakePreferences = {
diff --git a/fission/src/systems/simulation/behavior/ArcadeDriveBehavior.ts b/fission/src/systems/simulation/behavior/ArcadeDriveBehavior.ts
index 374f5684d9..26be5467fb 100644
--- a/fission/src/systems/simulation/behavior/ArcadeDriveBehavior.ts
+++ b/fission/src/systems/simulation/behavior/ArcadeDriveBehavior.ts
@@ -6,8 +6,7 @@ import InputSystem from "@/systems/input/InputSystem"
 class ArcadeDriveBehavior extends Behavior {
     private leftWheels: WheelDriver[]
     private rightWheels: WheelDriver[]
-    private _assemblyName: string
-    private _assemblyIndex: number
+    private _brainIndex: number
 
     private _driveSpeed = 30
     private _turnSpeed = 30
@@ -17,15 +16,13 @@ class ArcadeDriveBehavior extends Behavior {
         rightWheels: WheelDriver[],
         leftStimuli: WheelRotationStimulus[],
         rightStimuli: WheelRotationStimulus[],
-        assemblyName: string,
-        assemblyIndex: number
+        brainIndex: number
     ) {
         super(leftWheels.concat(rightWheels), leftStimuli.concat(rightStimuli))
 
         this.leftWheels = leftWheels
         this.rightWheels = rightWheels
-        this._assemblyName = assemblyName
-        this._assemblyIndex = assemblyIndex
+        this._brainIndex = brainIndex
     }
 
     // Sets the drivetrains target linear and rotational velocity
@@ -38,8 +35,8 @@ class ArcadeDriveBehavior extends Behavior {
     }
 
     public Update(_: number): void {
-        const driveInput = InputSystem.getInput("arcadeDrive", this._assemblyName, this._assemblyIndex)
-        const turnInput = InputSystem.getInput("arcadeTurn", this._assemblyName, this._assemblyIndex)
+        const driveInput = InputSystem.getInput("arcadeDrive", this._brainIndex)
+        const turnInput = InputSystem.getInput("arcadeTurn", this._brainIndex)
 
         this.DriveSpeeds(driveInput * this._driveSpeed, turnInput * this._turnSpeed)
     }
diff --git a/fission/src/systems/simulation/behavior/GenericArmBehavior.ts b/fission/src/systems/simulation/behavior/GenericArmBehavior.ts
index fc9e9bbd5d..c1251e1096 100644
--- a/fission/src/systems/simulation/behavior/GenericArmBehavior.ts
+++ b/fission/src/systems/simulation/behavior/GenericArmBehavior.ts
@@ -6,24 +6,16 @@ import InputSystem from "@/systems/input/InputSystem"
 class GenericArmBehavior extends Behavior {
     private _hingeDriver: HingeDriver
     private _inputName: string
-    private _assemblyName: string
-    private _assemblyIndex: number
+    private _brainIndex: number
 
     private _rotationalSpeed = 6
 
-    constructor(
-        hingeDriver: HingeDriver,
-        hingeStimulus: HingeStimulus,
-        jointIndex: number,
-        assemblyName: string,
-        assemblyIndex: number
-    ) {
+    constructor(hingeDriver: HingeDriver, hingeStimulus: HingeStimulus, jointIndex: number, brainIndex: number) {
         super([hingeDriver], [hingeStimulus])
 
         this._hingeDriver = hingeDriver
         this._inputName = "joint " + jointIndex
-        this._assemblyName = assemblyName
-        this._assemblyIndex = assemblyIndex
+        this._brainIndex = brainIndex
     }
 
     // Sets the arms target rotational velocity
@@ -32,9 +24,7 @@ class GenericArmBehavior extends Behavior {
     }
 
     public Update(_: number): void {
-        this.rotateArm(
-            InputSystem.getInput(this._inputName, this._assemblyName, this._assemblyIndex) * this._rotationalSpeed
-        )
+        this.rotateArm(InputSystem.getInput(this._inputName, this._brainIndex) * this._rotationalSpeed)
     }
 }
 
diff --git a/fission/src/systems/simulation/behavior/GenericElevatorBehavior.ts b/fission/src/systems/simulation/behavior/GenericElevatorBehavior.ts
index f1c01bde56..eb337b5d9e 100644
--- a/fission/src/systems/simulation/behavior/GenericElevatorBehavior.ts
+++ b/fission/src/systems/simulation/behavior/GenericElevatorBehavior.ts
@@ -6,24 +6,16 @@ import InputSystem from "@/systems/input/InputSystem"
 class GenericElevatorBehavior extends Behavior {
     private _sliderDriver: SliderDriver
     private _inputName: string
-    private _assemblyName: string
-    private _assemblyIndex: number
+    private _brainIndex: number
 
     private _linearSpeed = 2.5
 
-    constructor(
-        sliderDriver: SliderDriver,
-        sliderStimulus: SliderStimulus,
-        jointIndex: number,
-        assemblyName: string,
-        assemblyIndex: number
-    ) {
+    constructor(sliderDriver: SliderDriver, sliderStimulus: SliderStimulus, jointIndex: number, brainIndex: number) {
         super([sliderDriver], [sliderStimulus])
 
         this._sliderDriver = sliderDriver
         this._inputName = "joint " + jointIndex
-        this._assemblyName = assemblyName
-        this._assemblyIndex = assemblyIndex
+        this._brainIndex = brainIndex
     }
 
     // Changes the elevators target position
@@ -32,9 +24,7 @@ class GenericElevatorBehavior extends Behavior {
     }
 
     public Update(_: number): void {
-        this.moveElevator(
-            InputSystem.getInput(this._inputName, this._assemblyName, this._assemblyIndex) * this._linearSpeed
-        )
+        this.moveElevator(InputSystem.getInput(this._inputName, this._brainIndex) * this._linearSpeed)
     }
 }
 
diff --git a/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts b/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
index fbe4941c77..97b1e63c9d 100644
--- a/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
+++ b/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
@@ -15,28 +15,22 @@ import SliderDriver from "../driver/SliderDriver"
 import SliderStimulus from "../stimulus/SliderStimulus"
 import GenericElevatorBehavior from "../behavior/GenericElevatorBehavior"
 import { AxisInput, ButtonInput, Input } from "@/systems/input/InputSystem"
-import DefaultInputs, { InputScheme } from "@/systems/input/DefaultInputs"
+import { InputScheme } from "@/systems/input/InputSchemeManager"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 
-class BrainConfiguredEvent extends Event {
-    public brainIndex: number
+/* class BrainConfiguredEvent extends Event {
     public schemeName: string
 
-    constructor(brainIndex: number, schemeName: string) {
+    constructor(schemeName: string) {
         super("brainConfigured")
-        this.brainIndex = brainIndex
         this.schemeName = schemeName
     }
-}
+} */
 
 class SynthesisBrain extends Brain {
-    public static triggerBrainConfiguredEvent(schemeName: string, brainIndex: number) {
-        window.dispatchEvent(new BrainConfiguredEvent(brainIndex, schemeName))
-    }
-
-    private static addBrainConfiguredEventListener(callback: (e: BrainConfiguredEvent) => void) {
-        window.addEventListener("brainConfigured", callback as EventListener)
-    }
+    /*  public static triggerBrainConfiguredEvent(schemeName: string) {
+        window.dispatchEvent(new BrainConfiguredEvent(schemeName))
+    } */
 
     private _behaviors: Behavior[] = []
     private _simLayer: SimulationLayer
@@ -45,16 +39,17 @@ class SynthesisBrain extends Brain {
     private _currentJointIndex = 1
 
     private _assemblyName: string
-    private _assemblyIndex: number = 0
+    // private _assemblyIndex: number = 0
+    private _brainIndex: number
 
     // Tracks the number of each specific mira file spawned
-    public static numberRobotsSpawned: { [key: string]: number } = {}
+    // public static numberRobotsSpawned: { [key: string]: number } = {}
 
     // A list of all the robots spawned including their assembly index
-    public static robotsSpawned: string[] = []
+    // public static robotsSpawned: string[] = []
 
     // The total number of robots spawned
-    private static _currentRobotIndex: number = 0
+    public static currentBrainIndex: number = 0
 
     public constructor(mechanism: Mechanism, assemblyName: string) {
         super(mechanism)
@@ -62,6 +57,9 @@ class SynthesisBrain extends Brain {
         this._simLayer = World.SimulationSystem.GetSimulationLayer(mechanism)!
         this._assemblyName = assemblyName
 
+        this._brainIndex = SynthesisBrain.currentBrainIndex
+        SynthesisBrain.currentBrainIndex++
+
         if (!this._simLayer) {
             console.log("SimulationLayer is undefined")
             return
@@ -69,23 +67,21 @@ class SynthesisBrain extends Brain {
 
         // Only adds controls to mechanisms that are controllable (ignores fields)
         if (mechanism.controllable) {
-            if (SynthesisBrain.numberRobotsSpawned[assemblyName] == undefined)
+            /* if (SynthesisBrain.numberRobotsSpawned[assemblyName] == undefined)
                 SynthesisBrain.numberRobotsSpawned[assemblyName] = 0
             else SynthesisBrain.numberRobotsSpawned[assemblyName]++
 
             this._assemblyIndex = SynthesisBrain.numberRobotsSpawned[assemblyName]
-            SynthesisBrain.robotsSpawned.push(this.getNumberedAssemblyName())
-
+            SynthesisBrain.robotsSpawned.push(this.getNumberedAssemblyName()) */
             this.configureArcadeDriveBehavior()
             this.configureArmBehaviors()
             this.configureElevatorBehaviors()
+
+            window.addEventListener("brainConfigured", this.configureInputs as EventListener)
+            // console.log(this._assemblyIndex)
         } else {
             this.configureField()
         }
-
-        SynthesisBrain._currentRobotIndex++
-
-        SynthesisBrain.addBrainConfiguredEventListener(this.configureInputs)
     }
 
     public Enable(): void {}
@@ -99,8 +95,10 @@ class SynthesisBrain extends Brain {
     }
 
     public clearControls(): void {
-        const index = SynthesisBrain.robotsSpawned.indexOf(this.getNumberedAssemblyName())
-        SynthesisBrain.robotsSpawned.splice(index, 1)
+        // TODO
+        throw new Error("Not Implemented")
+        // const index = SynthesisBrain.robotsSpawned.indexOf(this.getNumberedAssemblyName())
+        // SynthesisBrain.robotsSpawned.splice(index, 1)
     }
 
     // Creates an instance of ArcadeDriveBehavior and automatically configures it
@@ -144,14 +142,7 @@ class SynthesisBrain extends Brain {
         }
 
         this._behaviors.push(
-            new ArcadeDriveBehavior(
-                leftWheels,
-                rightWheels,
-                leftStimuli,
-                rightStimuli,
-                this._assemblyName,
-                this._assemblyIndex
-            )
+            new ArcadeDriveBehavior(leftWheels, rightWheels, leftStimuli, rightStimuli, this._brainIndex)
         )
     }
 
@@ -166,13 +157,7 @@ class SynthesisBrain extends Brain {
 
         for (let i = 0; i < hingeDrivers.length; i++) {
             this._behaviors.push(
-                new GenericArmBehavior(
-                    hingeDrivers[i],
-                    hingeStimuli[i],
-                    this._currentJointIndex,
-                    this._assemblyName,
-                    this._assemblyIndex
-                )
+                new GenericArmBehavior(hingeDrivers[i], hingeStimuli[i], this._currentJointIndex, this._brainIndex)
             )
             this._currentJointIndex++
         }
@@ -193,51 +178,45 @@ class SynthesisBrain extends Brain {
                     sliderDrivers[i],
                     sliderStimuli[i],
                     this._currentJointIndex,
-                    this._assemblyName,
-                    this._assemblyIndex
+                    this._brainIndex
                 )
             )
             this._currentJointIndex++
         }
     }
 
-    private configureInputs(_: BrainConfiguredEvent) {
-        // Check for existing inputs
-        const robotConfig = PreferencesSystem.getRobotPreferences(this._assemblyName)
-        if (robotConfig.inputsSchemes[this._assemblyIndex] != undefined) {
-            SynthesisBrain.parseInputs(robotConfig.inputsSchemes[this._assemblyIndex])
-            return
-        }
-
-        // Configure with default inputs
-
-        const scheme = DefaultInputs.AVAILABLE_INPUT_SCHEMES[SynthesisBrain._currentRobotIndex]
-
-        robotConfig.inputsSchemes[this._assemblyIndex] = {
-            schemeName: this._assemblyName,
-            descriptiveName: "",
-            customized: false,
-            usesGamepad: scheme?.usesGamepad ?? false,
-            inputs: [],
-        }
-        const inputList = robotConfig.inputsSchemes[this._assemblyIndex].inputs
-
-        if (scheme) {
-            const arcadeDrive = scheme.inputs.find(i => i.inputName === "arcadeDrive")
-            if (arcadeDrive) inputList.push(arcadeDrive.getCopy())
-            else inputList.push(new AxisInput("arcadeDrive"))
-
-            const arcadeTurn = scheme.inputs.find(i => i.inputName === "arcadeTurn")
-            if (arcadeTurn) inputList.push(arcadeTurn.getCopy())
-            else inputList.push(new AxisInput("arcadeTurn"))
-
-            for (let i = 1; i < this._currentJointIndex; i++) {
-                const controlPreset = scheme.inputs.find(input => input.inputName == "joint " + i)
-
-                if (controlPreset) inputList.push(controlPreset.getCopy())
-                else inputList.push(new AxisInput("joint " + i))
-            }
-        }
+    private configureInputs(/* e: BrainConfiguredEvent */) {
+        // window.removeEventListener("brainConfigured", this.configureInputs as EventListener)
+        // console.log(this._assemblyIndex + " " + this._assemblyName + " configured with " + e.schemeName)
+        // // Check for existing inputs
+        // const robotConfig = PreferencesSystem.getRobotPreferences(this._assemblyName)
+        // if (robotConfig.inputsSchemes[this._assemblyIndex] != undefined) {
+        //     SynthesisBrain.parseInputs(robotConfig.inputsSchemes[this._assemblyIndex])
+        //     return
+        // }
+        // // Configure with default inputs
+        // const scheme = DefaultInputs.AVAILABLE_INPUT_SCHEMES[SynthesisBrain._currentBrainIndex]
+        // robotConfig.inputsSchemes[this._assemblyIndex] = {
+        //     schemeName: this._assemblyName,
+        //     descriptiveName: "",
+        //     customized: false,
+        //     usesGamepad: scheme?.usesGamepad ?? false,
+        //     inputs: [],
+        // }
+        // const inputList = robotConfig.inputsSchemes[this._assemblyIndex].inputs
+        // if (scheme) {
+        //     const arcadeDrive = scheme.inputs.find(i => i.inputName === "arcadeDrive")
+        //     if (arcadeDrive) inputList.push(arcadeDrive.getCopy())
+        //     else inputList.push(new AxisInput("arcadeDrive"))
+        //     const arcadeTurn = scheme.inputs.find(i => i.inputName === "arcadeTurn")
+        //     if (arcadeTurn) inputList.push(arcadeTurn.getCopy())
+        //     else inputList.push(new AxisInput("arcadeTurn"))
+        //     for (let i = 1; i < this._currentJointIndex; i++) {
+        //         const controlPreset = scheme.inputs.find(input => input.inputName == "joint " + i)
+        //         if (controlPreset) inputList.push(controlPreset.getCopy())
+        //         else inputList.push(new AxisInput("joint " + i))
+        //     }
+        // }
     }
 
     private configureField() {
@@ -247,9 +226,9 @@ class SynthesisBrain extends Brain {
         /** Put any scoring zone or other field configuration here */
     }
 
-    private getNumberedAssemblyName(): string {
+    /* private getNumberedAssemblyName(): string {
         return `[${this._assemblyIndex}] ${this._assemblyName}`
-    }
+    } */
 
     private static parseInputs(rawInputs: InputScheme) {
         for (let i = 0; i < rawInputs.inputs.length; i++) {
diff --git a/fission/src/ui/modals/configuring/ChangeInputsModal.tsx b/fission/src/ui/modals/configuring/ChangeInputsModal.tsx
index 6f6cca9a93..5b926b75ee 100644
--- a/fission/src/ui/modals/configuring/ChangeInputsModal.tsx
+++ b/fission/src/ui/modals/configuring/ChangeInputsModal.tsx
@@ -7,7 +7,7 @@ import LabeledButton, { LabelPlacement } from "../../components/LabeledButton"
 import InputSystem, { AxisInput, ButtonInput, ModifierState, EmptyModifierState } from "@/systems/input/InputSystem"
 import Dropdown from "@/ui/components/Dropdown"
 import Checkbox from "@/ui/components/Checkbox"
-import DefaultInputs, { InputScheme } from "@/systems/input/DefaultInputs"
+import InputSchemeManager, { InputScheme } from "@/systems/input/InputSchemeManager"
 import Button from "@/ui/components/Button"
 import { useModalControlContext } from "@/ui/ModalContext"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
@@ -389,7 +389,7 @@ const ChangeInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                                             <Dropdown
                                                 label={""}
                                                 // Moves the selected option to the start of the array
-                                                options={DefaultInputs.AVAILABLE_INPUT_SCHEMES.map(
+                                                options={InputSchemeManager.AVAILABLE_INPUT_SCHEMES.map(
                                                     scheme => scheme.schemeName
                                                 )}
                                                 onSelect={value => {
@@ -400,7 +400,7 @@ const ChangeInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                                         <Button
                                             value={"Apply"}
                                             onClick={() => {
-                                                const scheme = DefaultInputs.AVAILABLE_INPUT_SCHEMES.find(
+                                                const scheme = InputSchemeManager.AVAILABLE_INPUT_SCHEMES.find(
                                                     s => s.schemeName == chosenResetScheme
                                                 )
                                                 if (!selectedScheme || !scheme) return
diff --git a/fission/src/ui/modals/configuring/ResetAllInputsModal.tsx b/fission/src/ui/modals/configuring/ResetAllInputsModal.tsx
index 1301e9a00a..c2e03037f4 100644
--- a/fission/src/ui/modals/configuring/ResetAllInputsModal.tsx
+++ b/fission/src/ui/modals/configuring/ResetAllInputsModal.tsx
@@ -3,7 +3,7 @@ import Modal, { ModalPropsImpl } from "@/components/Modal"
 import { GrFormClose } from "react-icons/gr"
 import { useModalControlContext } from "@/ui/ModalContext"
 import InputSystem from "@/systems/input/InputSystem"
-import DefaultInputs from "@/systems/input/DefaultInputs"
+import InputSchemeManager from "@/systems/input/InputSchemeManager"
 
 const ResetAllInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const { openModal } = useModalControlContext()
@@ -16,7 +16,7 @@ const ResetAllInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
             onAccept={() => {
                 let i = 0
                 InputSystem.allInputs.forEach(currentScheme => {
-                    const scheme = DefaultInputs.AVAILABLE_INPUT_SCHEMES[i]
+                    const scheme = InputSchemeManager.AVAILABLE_INPUT_SCHEMES[i]
                     if (!currentScheme || !scheme) return
 
                     scheme.inputs.forEach(newInput => {
diff --git a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
index eaf489b5b7..c2b75647cf 100644
--- a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
+++ b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
@@ -1,10 +1,17 @@
 import Panel, { PanelPropsImpl } from "@/components/Panel"
-import Label from "@/ui/components/Label"
+import DefaultInputs from "@/systems/input/DefaultInputs"
+import InputSchemeManager from "@/systems/input/InputSchemeManager"
+import InputSystem from "@/systems/input/InputSystem"
+import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
+import Button from "@/ui/components/Button"
 import { usePanelControlContext } from "@/ui/PanelContext"
+import { Box } from "@mui/material"
 import { useEffect } from "react"
+import { AiOutlinePlus } from "react-icons/ai"
 
 const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
     const { closePanel } = usePanelControlContext()
+    const AddIcon = <AiOutlinePlus size={"1.25rem"} />
 
     useEffect(() => {
         closePanel("import-mirabuf")
@@ -19,7 +26,40 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
             acceptEnabled={false}
             cancelEnabled={false}
         >
-            <Label>Test</Label>
+            <div className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[20vh] bg-background-secondary rounded-md p-2">
+                {InputSchemeManager.AVAILABLE_INPUT_SCHEMES.map(scheme => {
+                    return (
+                        <Button
+                            value={`${scheme.schemeName} | ${scheme.descriptiveName}`}
+                            onClick={() => {
+                                // Remove the chosen scheme from the list
+                                //const index = InputSchemeManager.AVAILABLE_INPUT_SCHEMES.indexOf(scheme)
+                                //InputSchemeManager.AVAILABLE_INPUT_SCHEMES.splice(index, 1)
+
+                                InputSystem.brainIndexSchemeMap.set(SynthesisBrain.currentBrainIndex - 1, scheme)
+
+                                closePanel(panelId)
+                            }}
+                            key={scheme.schemeName}
+                        />
+                    )
+                })}
+            </div>
+            <Button
+                value={AddIcon}
+                onClick={() => {
+                    // Find a random name and remove it from the list
+                    const index = Math.floor(Math.random() * DefaultInputs.NAMES.length)
+                    const schemeName = DefaultInputs.NAMES[index]
+                    DefaultInputs.NAMES.splice(index, 1)
+
+                    // TODO: Create a new blank scheme for this name
+
+                    // SynthesisBrain.triggerBrainConfiguredEvent(schemeName)
+                    closePanel(panelId)
+                }}
+            />
+            <Box height="12px"></Box>
         </Panel>
     )
 }
diff --git a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
index cfc4b67684..6ed84f551c 100644
--- a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
+++ b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
@@ -239,6 +239,8 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                 cacheInfo && SpawnCachedMira(cacheInfo, type)
             })
             closePanel(panelId)
+
+            if (type == MiraType.ROBOT) openPanel("choose-scheme")
         },
         [closePanel, panelId]
     )

From 5268066382d3babc64c0448cdaeca1a576571ad9 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Wed, 17 Jul 2024 14:53:40 -0700
Subject: [PATCH 3/9] Save and load named controls

---
 .../src/systems/input/InputSchemeManager.ts   | 86 +++++++++++++---
 .../synthesis_brain/SynthesisBrain.ts         | 63 ++----------
 .../modals/configuring/ChangeInputsModal.tsx  | 97 +++++++++----------
 .../configuring/ResetAllInputsModal.tsx       |  2 +-
 .../configuring/ChooseInputSchemePanel.tsx    | 14 ++-
 5 files changed, 137 insertions(+), 125 deletions(-)

diff --git a/fission/src/systems/input/InputSchemeManager.ts b/fission/src/systems/input/InputSchemeManager.ts
index 65ee04e412..0b903a4ee7 100644
--- a/fission/src/systems/input/InputSchemeManager.ts
+++ b/fission/src/systems/input/InputSchemeManager.ts
@@ -1,6 +1,6 @@
 import PreferencesSystem from "../preferences/PreferencesSystem"
 import DefaultInputs from "./DefaultInputs"
-import InputSystem, { Input } from "./InputSystem"
+import InputSystem, { AxisInput, ButtonInput, Input } from "./InputSystem"
 
 export type InputScheme = {
     schemeName: string
@@ -10,6 +10,59 @@ export type InputScheme = {
     inputs: Input[]
 }
 
+class InputSchemeParser {
+    private static _customSchemes: InputScheme[]
+
+    /** Fetches custom input schemes from preferences manager */
+    public static get customInputSchemes(): InputScheme[] {
+        if (this._customSchemes) return this._customSchemes
+
+        // Load schemes from preferences and parse into objects
+        const inputSchemes = PreferencesSystem.getGlobalPreference<InputScheme[]>("InputSchemes")
+        inputSchemes.forEach(scheme => this.parseScheme(scheme))
+
+        this._customSchemes = inputSchemes
+        return this._customSchemes
+    }
+
+    private static parseScheme(rawInputs: InputScheme) {
+        for (let i = 0; i < rawInputs.inputs.length; i++) {
+            const rawInput = rawInputs.inputs[i]
+            let parsedInput: Input
+
+            if ((rawInput as ButtonInput).keyCode != undefined) {
+                const rawButton = rawInput as ButtonInput
+
+                parsedInput = new ButtonInput(
+                    rawButton.inputName,
+                    rawButton.keyCode,
+                    rawButton.gamepadButton,
+                    rawButton.isGlobal,
+                    rawButton.keyModifiers
+                )
+            } else {
+                const rawAxis = rawInput as AxisInput
+
+                parsedInput = new AxisInput(
+                    rawAxis.inputName,
+                    rawAxis.posKeyCode,
+                    rawAxis.negKeyCode,
+                    rawAxis.gamepadAxisNumber,
+                    rawAxis.joystickInverted,
+                    rawAxis.useGamepadButtons,
+                    rawAxis.posGamepadButton,
+                    rawAxis.negGamepadButton,
+                    rawAxis.isGlobal,
+                    rawAxis.posKeyModifiers,
+                    rawAxis.negKeyModifiers
+                )
+            }
+
+            rawInputs.inputs[i] = parsedInput
+        }
+    }
+}
+
 class InputSchemeManager {
     private static _defaultInputSchemes: InputScheme[] = [
         DefaultInputs.ernie,
@@ -19,28 +72,37 @@ class InputSchemeManager {
         DefaultInputs.carmela,
     ]
 
-    /** Fetches custom input schemes from preferences manager */
-    private static get _customInputSchemes(): InputScheme[] {
-        return PreferencesSystem.getGlobalPreference<InputScheme[]>("InputSchemes")
-    }
-
     /** Creates an array of every input scheme that is either a default or customized by the user. Custom themes will appear on top. */
-    public static get AVAILABLE_INPUT_SCHEMES(): InputScheme[] {
+    public static get availableInputSchemes(): InputScheme[] {
         // Start with custom input schemes
-        const availableSchemes = this._customInputSchemes
+        const availableSchemes: InputScheme[] = []
+
+        InputSchemeParser.customInputSchemes.forEach(s => availableSchemes.push(s))
 
-        // Add default schemes that have not been customized
+        // Add default schemes if they have not been customized
         this._defaultInputSchemes.forEach(defaultScheme => {
-            if (availableSchemes.includes(defaultScheme)) return
+            if (
+                availableSchemes.some(s => {
+                    return s.schemeName === defaultScheme.schemeName
+                })
+            )
+                return
 
             availableSchemes.push(defaultScheme)
         })
 
         // Remove schemes that are in use
         const schemesInUse = Array.from(InputSystem.brainIndexSchemeMap.values())
-        availableSchemes.filter(scheme => !schemesInUse.includes(scheme))
+        return availableSchemes.filter(scheme => !schemesInUse.includes(scheme))
+    }
+
+    public static saveSchemes() {
+        const customizedSchemes = Array.from(InputSystem.brainIndexSchemeMap.values()).filter(s => {
+            return s.customized
+        })
 
-        return InputSchemeManager._defaultInputSchemes
+        PreferencesSystem.setGlobalPreference("InputSchemes", customizedSchemes)
+        PreferencesSystem.savePreferences()
     }
 }
 
diff --git a/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts b/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
index 97b1e63c9d..6e9127ccd7 100644
--- a/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
+++ b/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
@@ -18,28 +18,14 @@ import { AxisInput, ButtonInput, Input } from "@/systems/input/InputSystem"
 import { InputScheme } from "@/systems/input/InputSchemeManager"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 
-/* class BrainConfiguredEvent extends Event {
-    public schemeName: string
-
-    constructor(schemeName: string) {
-        super("brainConfigured")
-        this.schemeName = schemeName
-    }
-} */
-
 class SynthesisBrain extends Brain {
-    /*  public static triggerBrainConfiguredEvent(schemeName: string) {
-        window.dispatchEvent(new BrainConfiguredEvent(schemeName))
-    } */
-
     private _behaviors: Behavior[] = []
     private _simLayer: SimulationLayer
 
-    // Tracks how many joins have been made for unique controls
+    // Tracks how many joins have been made with unique controls
     private _currentJointIndex = 1
 
     private _assemblyName: string
-    // private _assemblyIndex: number = 0
     private _brainIndex: number
 
     // Tracks the number of each specific mira file spawned
@@ -49,7 +35,9 @@ class SynthesisBrain extends Brain {
     // public static robotsSpawned: string[] = []
 
     // The total number of robots spawned
-    public static currentBrainIndex: number = 0
+    // public static currentBrainIndex: number = 0
+
+    public static brainIndexMap = new Map<number, SynthesisBrain>()
 
     public constructor(mechanism: Mechanism, assemblyName: string) {
         super(mechanism)
@@ -57,8 +45,10 @@ class SynthesisBrain extends Brain {
         this._simLayer = World.SimulationSystem.GetSimulationLayer(mechanism)!
         this._assemblyName = assemblyName
 
-        this._brainIndex = SynthesisBrain.currentBrainIndex
-        SynthesisBrain.currentBrainIndex++
+        this._brainIndex = SynthesisBrain.brainIndexMap.size
+        SynthesisBrain.brainIndexMap.set(this._brainIndex, this)
+
+        console.log(SynthesisBrain.brainIndexMap)
 
         if (!this._simLayer) {
             console.log("SimulationLayer is undefined")
@@ -229,43 +219,6 @@ class SynthesisBrain extends Brain {
     /* private getNumberedAssemblyName(): string {
         return `[${this._assemblyIndex}] ${this._assemblyName}`
     } */
-
-    private static parseInputs(rawInputs: InputScheme) {
-        for (let i = 0; i < rawInputs.inputs.length; i++) {
-            const rawInput = rawInputs.inputs[i]
-            let parsedInput: Input
-
-            if ((rawInput as ButtonInput).keyCode != undefined) {
-                const rawButton = rawInput as ButtonInput
-
-                parsedInput = new ButtonInput(
-                    rawButton.inputName,
-                    rawButton.keyCode,
-                    rawButton.gamepadButton,
-                    rawButton.isGlobal,
-                    rawButton.keyModifiers
-                )
-            } else {
-                const rawAxis = rawInput as AxisInput
-
-                parsedInput = new AxisInput(
-                    rawAxis.inputName,
-                    rawAxis.posKeyCode,
-                    rawAxis.negKeyCode,
-                    rawAxis.gamepadAxisNumber,
-                    rawAxis.joystickInverted,
-                    rawAxis.useGamepadButtons,
-                    rawAxis.posGamepadButton,
-                    rawAxis.negGamepadButton,
-                    rawAxis.isGlobal,
-                    rawAxis.posKeyModifiers,
-                    rawAxis.negKeyModifiers
-                )
-            }
-
-            rawInputs.inputs[i] = parsedInput
-        }
-    }
 }
 
 export default SynthesisBrain
diff --git a/fission/src/ui/modals/configuring/ChangeInputsModal.tsx b/fission/src/ui/modals/configuring/ChangeInputsModal.tsx
index 5b926b75ee..44fffa93bc 100644
--- a/fission/src/ui/modals/configuring/ChangeInputsModal.tsx
+++ b/fission/src/ui/modals/configuring/ChangeInputsModal.tsx
@@ -11,7 +11,6 @@ import InputSchemeManager, { InputScheme } from "@/systems/input/InputSchemeMana
 import Button from "@/ui/components/Button"
 import { useModalControlContext } from "@/ui/ModalContext"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
-import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
 
 // capitalize first letter
 const transformKeyName = (keyCode: string, keyModifiers: ModifierState) => {
@@ -106,16 +105,16 @@ const ChangeInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const [modifierState, setModifierState] = useState<ModifierState>(EmptyModifierState)
 
     const [chosenGamepadAxis, setChosenGamepadAxis] = useState<number>(-1)
-    const [chosenResetScheme, setChosenResetScheme] = useState<string>("WASD")
+    // const [chosenResetScheme, setChosenResetScheme] = useState<string>("WASD") TODO
     const [useButtons, setUseButtons] = useState<UseButtonsState>({})
 
     // If there is a robot spawned, set it as the selected robot
-    if (selectedScheme == null && Object.keys(PreferencesSystem.getAllRobotPreferences()).length > 0) {
+    if (selectedScheme == null && InputSystem.brainIndexSchemeMap.size > 0) {
         setTimeout(() => {
-            if (!InputSystem.selectedScheme)
-                InputSystem.selectedScheme = Object.values(
-                    PreferencesSystem.getAllRobotPreferences()
-                )[0].inputsSchemes[0]
+            if (!InputSystem.selectedScheme) {
+                InputSystem.selectedScheme = InputSystem.brainIndexSchemeMap.values().next().value
+                console.log("set selected to " + InputSystem.selectedScheme)
+            }
 
             setUseButtons({})
             setSelectedScheme(InputSystem.selectedScheme)
@@ -137,7 +136,7 @@ const ChangeInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     }
 
     // Assign keyboard inputs when a key is pressed
-    if (!useGamepad && selectedInput && chosenKey) {
+    if (!useGamepad && selectedInput && chosenKey && selectedScheme) {
         if (selectedInput.startsWith("pos")) {
             const input = selectedScheme?.inputs.find(
                 input => input.inputName == selectedInput.substring(3)
@@ -156,12 +155,14 @@ const ChangeInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
             input.keyModifiers = modifierState
         }
 
+        selectedScheme.customized = true
+
         setChosenKey("")
         setSelectedInput("")
         setModifierState(EmptyModifierState)
     }
     // Assign gamepad button inputs when a button is pressed
-    else if (useGamepad && selectedInput && chosenButton != -1) {
+    else if (selectedScheme && useGamepad && selectedInput && chosenButton != -1) {
         if (selectedInput.startsWith("pos")) {
             const input = selectedScheme?.inputs.find(
                 input => input.inputName == selectedInput.substring(3)
@@ -178,15 +179,19 @@ const ChangeInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
             input.gamepadButton = chosenButton
         }
 
+        selectedScheme.customized = true
+
         setChosenButton(-1)
         setSelectedInput("")
     }
 
     // Assign gamepad axis inputs when a gamepad axis is selected
-    if (useGamepad && selectedInput && chosenGamepadAxis != -1) {
+    if (useGamepad && selectedInput && chosenGamepadAxis != -1 && selectedScheme) {
         const selected = selectedScheme?.inputs.find(input => input.inputName == selectedInput) as AxisInput
         selected.gamepadAxisNumber = chosenGamepadAxis - 1
 
+        selectedScheme.customized = true
+
         setChosenGamepadAxis(-1)
         setSelectedInput("")
     }
@@ -343,11 +348,11 @@ const ChangeInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
             icon={<FaGamepad />}
             modalId={modalId}
             onAccept={() => {
-                PreferencesSystem.savePreferences()
+                InputSchemeManager.saveSchemes()
                 InputSystem.selectedScheme = undefined
             }}
         >
-            {Object.keys(PreferencesSystem.getAllRobotPreferences()).length > 0 ? (
+            {InputSystem.brainIndexSchemeMap.size > 0 ? (
                 <>
                     <Stack direction={StackDirection.Horizontal} spacing={25}>
                         <div>
@@ -356,21 +361,17 @@ const ChangeInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                                     label={"Select Robot"}
                                     // Moves the selected option to the start of the array
                                     options={moveElementToTop(
-                                        SynthesisBrain.robotsSpawned,
+                                        Array.from(InputSystem.brainIndexSchemeMap.values()).map(s => s.schemeName),
                                         InputSystem?.selectedScheme?.schemeName
                                     )}
                                     onSelect={value => {
-                                        const roboName = value.substring(4)
-                                        const controlSchemeIndex: number = +value.charAt(1)
-
-                                        const newScheme =
-                                            PreferencesSystem.getAllRobotPreferences()[roboName].inputsSchemes[
-                                                controlSchemeIndex
-                                            ]
-                                        if (newScheme == selectedScheme) return
+                                        const schemeData = Array.from(InputSystem.brainIndexSchemeMap.entries()).find(
+                                            s => s[1].schemeName == value
+                                        )
+                                        if (!schemeData || schemeData[1] == selectedScheme) return
 
                                         setSelectedScheme(undefined)
-                                        InputSystem.selectedScheme = newScheme
+                                        InputSystem.selectedScheme = schemeData[1]
                                     }}
                                 />
                                 {selectedScheme ? (
@@ -384,8 +385,7 @@ const ChangeInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                                             }}
                                         />
                                         <Label size={LabelSize.Medium}>Default Control Schemes</Label>
-                                        {/* <Stack direction={StackDirection.Horizontal} justify="center" align="stretch"> */}
-                                        <div>
+                                        {/**
                                             <Dropdown
                                                 label={""}
                                                 // Moves the selected option to the start of the array
@@ -396,38 +396,37 @@ const ChangeInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                                                     setChosenResetScheme(value)
                                                 }}
                                             />
-                                        </div>
-                                        <Button
-                                            value={"Apply"}
-                                            onClick={() => {
-                                                const scheme = InputSchemeManager.AVAILABLE_INPUT_SCHEMES.find(
-                                                    s => s.schemeName == chosenResetScheme
-                                                )
-                                                if (!selectedScheme || !scheme) return
-
-                                                scheme.inputs.forEach(newInput => {
-                                                    const currentInput = selectedScheme.inputs.find(
-                                                        i => i.inputName == newInput.inputName
+                                            <Button
+                                                value={"Apply"}
+                                                onClick={() => {
+                                                    const scheme = InputSchemeManager.AVAILABLE_INPUT_SCHEMES.find(
+                                                        s => s.schemeName == chosenResetScheme
                                                     )
-
-                                                    if (currentInput) {
-                                                        const inputIndex = selectedScheme.inputs.indexOf(currentInput)
-
-                                                        selectedScheme.inputs[inputIndex] = newInput.getCopy()
-                                                    }
-                                                })
-                                                selectedScheme.usesGamepad = scheme.usesGamepad
-
-                                                setSelectedScheme(undefined)
-                                            }}
-                                        />
+                                                    if (!selectedScheme || !scheme) return
+    
+                                                    scheme.inputs.forEach(newInput => {
+                                                        const currentInput = selectedScheme.inputs.find(
+                                                            i => i.inputName == newInput.inputName
+                                                        )
+    
+                                                        if (currentInput) {
+                                                            const inputIndex = selectedScheme.inputs.indexOf(currentInput)
+    
+                                                            selectedScheme.inputs[inputIndex] = newInput.getCopy()
+                                                        }
+                                                    })
+                                                    selectedScheme.usesGamepad = scheme.usesGamepad
+    
+                                                    setSelectedScheme(undefined)
+                                                }}
+                                            />
+                                        */}
                                         <Button
                                             value={"Reset all to Defaults"}
                                             onClick={() => {
                                                 openModal("reset-inputs")
                                             }}
                                         />
-                                        {/* </Stack> */}
                                     </>
                                 ) : (
                                     <Label>No robot selected.</Label>
diff --git a/fission/src/ui/modals/configuring/ResetAllInputsModal.tsx b/fission/src/ui/modals/configuring/ResetAllInputsModal.tsx
index c2e03037f4..728456b19d 100644
--- a/fission/src/ui/modals/configuring/ResetAllInputsModal.tsx
+++ b/fission/src/ui/modals/configuring/ResetAllInputsModal.tsx
@@ -16,7 +16,7 @@ const ResetAllInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
             onAccept={() => {
                 let i = 0
                 InputSystem.allInputs.forEach(currentScheme => {
-                    const scheme = InputSchemeManager.AVAILABLE_INPUT_SCHEMES[i]
+                    const scheme = InputSchemeManager.availableInputSchemes[i]
                     if (!currentScheme || !scheme) return
 
                     scheme.inputs.forEach(newInput => {
diff --git a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
index c2b75647cf..b4f66b04d3 100644
--- a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
+++ b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
@@ -27,17 +27,13 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
             cancelEnabled={false}
         >
             <div className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[20vh] bg-background-secondary rounded-md p-2">
-                {InputSchemeManager.AVAILABLE_INPUT_SCHEMES.map(scheme => {
+                {/** A scroll view with buttons to select default and custom input schemes */}
+                {InputSchemeManager.availableInputSchemes.map(scheme => {
                     return (
                         <Button
-                            value={`${scheme.schemeName} | ${scheme.descriptiveName}`}
+                            value={`${scheme.schemeName} | ${scheme.customized ? "Custom" : scheme.descriptiveName}`}
                             onClick={() => {
-                                // Remove the chosen scheme from the list
-                                //const index = InputSchemeManager.AVAILABLE_INPUT_SCHEMES.indexOf(scheme)
-                                //InputSchemeManager.AVAILABLE_INPUT_SCHEMES.splice(index, 1)
-
-                                InputSystem.brainIndexSchemeMap.set(SynthesisBrain.currentBrainIndex - 1, scheme)
-
+                                InputSystem.brainIndexSchemeMap.set(SynthesisBrain.brainIndexMap.size - 1, scheme)
                                 closePanel(panelId)
                             }}
                             key={scheme.schemeName}
@@ -45,9 +41,11 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                     )
                 })}
             </div>
+            {/** A button to create a new scheme with a randomly assigned name */}
             <Button
                 value={AddIcon}
                 onClick={() => {
+                    throw new Error("Not implemented!!!")
                     // Find a random name and remove it from the list
                     const index = Math.floor(Math.random() * DefaultInputs.NAMES.length)
                     const schemeName = DefaultInputs.NAMES[index]

From 897e438b2925403b3c709ab7791dccf3d85e67c0 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Wed, 17 Jul 2024 15:46:21 -0700
Subject: [PATCH 4/9] Create new custom input schemes that are assigned a
 random name

---
 fission/src/systems/input/DefaultInputs.ts    | 59 ++++++++++++++++++-
 .../src/systems/input/InputSchemeManager.ts   | 17 ++++++
 .../synthesis_brain/SynthesisBrain.ts         |  2 -
 .../modals/configuring/ChangeInputsModal.tsx  |  1 -
 .../configuring/ChooseInputSchemePanel.tsx    | 12 ++--
 5 files changed, 79 insertions(+), 12 deletions(-)

diff --git a/fission/src/systems/input/DefaultInputs.ts b/fission/src/systems/input/DefaultInputs.ts
index ae43a25ebd..5890b84e2f 100644
--- a/fission/src/systems/input/DefaultInputs.ts
+++ b/fission/src/systems/input/DefaultInputs.ts
@@ -41,6 +41,11 @@ class DefaultInputs {
                 shift: true,
                 meta: false,
             }),
+            new AxisInput("joint 6"),
+            new AxisInput("joint 7"),
+            new AxisInput("joint 8"),
+            new AxisInput("joint 9"),
+            new AxisInput("joint 10"),
         ],
     }
 
@@ -83,6 +88,11 @@ class DefaultInputs {
                 shift: false,
                 meta: false,
             }),
+            new AxisInput("joint 6"),
+            new AxisInput("joint 7"),
+            new AxisInput("joint 8"),
+            new AxisInput("joint 9"),
+            new AxisInput("joint 10"),
         ],
     }
 
@@ -98,8 +108,13 @@ class DefaultInputs {
             new AxisInput("joint 1", "", "", -1, false, true, 3, 0),
             new AxisInput("joint 2", "", "", -1, false, true, 1, 2),
             new AxisInput("joint 3", "", "", -1, false, true, 4, 5),
-            new AxisInput("joint 3", "", "", -1, false, true, 15, 14),
-            new AxisInput("joint 3", "", "", -1, false, true, 12, 13),
+            new AxisInput("joint 4", "", "", -1, false, true, 15, 14),
+            new AxisInput("joint 5", "", "", -1, false, true, 12, 13),
+            new AxisInput("joint 6"),
+            new AxisInput("joint 7"),
+            new AxisInput("joint 8"),
+            new AxisInput("joint 9"),
+            new AxisInput("joint 10"),
         ],
     }
 
@@ -114,6 +129,14 @@ class DefaultInputs {
 
             new AxisInput("joint 2", "", "", -1, false, true, 15, 14),
             new AxisInput("joint 1", "", "", -1, false, true, 12, 13),
+            new AxisInput("joint 3"),
+            new AxisInput("joint 4"),
+            new AxisInput("joint 5"),
+            new AxisInput("joint 6"),
+            new AxisInput("joint 7"),
+            new AxisInput("joint 8"),
+            new AxisInput("joint 9"),
+            new AxisInput("joint 10"),
         ],
     }
 
@@ -128,9 +151,41 @@ class DefaultInputs {
 
             new AxisInput("joint 1", "", "", -1, false, true, 3, 0),
             new AxisInput("joint 2", "", "", -1, false, true, 1, 2),
+            new AxisInput("joint 3"),
+            new AxisInput("joint 4"),
+            new AxisInput("joint 5"),
+            new AxisInput("joint 6"),
+            new AxisInput("joint 7"),
+            new AxisInput("joint 8"),
+            new AxisInput("joint 9"),
+            new AxisInput("joint 10"),
         ],
     }
 
+    public static get newBlankScheme() {
+        return {
+            schemeName: "",
+            descriptiveName: "",
+            customized: true,
+            usesGamepad: false,
+            inputs: [
+                new AxisInput("arcadeDrive"),
+                new AxisInput("arcadeTurn"),
+
+                new AxisInput("joint 1"),
+                new AxisInput("joint 2"),
+                new AxisInput("joint 3"),
+                new AxisInput("joint 4"),
+                new AxisInput("joint 5"),
+                new AxisInput("joint 6"),
+                new AxisInput("joint 7"),
+                new AxisInput("joint 8"),
+                new AxisInput("joint 9"),
+                new AxisInput("joint 10"),
+            ],
+        }
+    }
+
     public static NAMES: string[] = [
         "Kennedy",
         "Duke",
diff --git a/fission/src/systems/input/InputSchemeManager.ts b/fission/src/systems/input/InputSchemeManager.ts
index 0b903a4ee7..be2023c3e0 100644
--- a/fission/src/systems/input/InputSchemeManager.ts
+++ b/fission/src/systems/input/InputSchemeManager.ts
@@ -96,6 +96,23 @@ class InputSchemeManager {
         return availableSchemes.filter(scheme => !schemesInUse.includes(scheme))
     }
 
+    /** @returns a random available robot name */
+    public static get randomAvailableName(): string {
+        const usedNames = this.availableInputSchemes.map(s => s.schemeName)
+
+        const randomName = () => {
+            const index = Math.floor(Math.random() * DefaultInputs.NAMES.length)
+            return DefaultInputs.NAMES[index]
+        }
+
+        let name = randomName()
+        while (usedNames.includes(name)) name = randomName()
+
+        console.log(name)
+        return name
+    }
+
+    /** Save all schemes that have been customized to local storage via preferences */
     public static saveSchemes() {
         const customizedSchemes = Array.from(InputSystem.brainIndexSchemeMap.values()).filter(s => {
             return s.customized
diff --git a/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts b/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
index 6e9127ccd7..ec9024e208 100644
--- a/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
+++ b/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
@@ -14,8 +14,6 @@ import GenericArmBehavior from "../behavior/GenericArmBehavior"
 import SliderDriver from "../driver/SliderDriver"
 import SliderStimulus from "../stimulus/SliderStimulus"
 import GenericElevatorBehavior from "../behavior/GenericElevatorBehavior"
-import { AxisInput, ButtonInput, Input } from "@/systems/input/InputSystem"
-import { InputScheme } from "@/systems/input/InputSchemeManager"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 
 class SynthesisBrain extends Brain {
diff --git a/fission/src/ui/modals/configuring/ChangeInputsModal.tsx b/fission/src/ui/modals/configuring/ChangeInputsModal.tsx
index 44fffa93bc..c45cb465a0 100644
--- a/fission/src/ui/modals/configuring/ChangeInputsModal.tsx
+++ b/fission/src/ui/modals/configuring/ChangeInputsModal.tsx
@@ -10,7 +10,6 @@ import Checkbox from "@/ui/components/Checkbox"
 import InputSchemeManager, { InputScheme } from "@/systems/input/InputSchemeManager"
 import Button from "@/ui/components/Button"
 import { useModalControlContext } from "@/ui/ModalContext"
-import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 
 // capitalize first letter
 const transformKeyName = (keyCode: string, keyModifiers: ModifierState) => {
diff --git a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
index b4f66b04d3..2082f95f47 100644
--- a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
+++ b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
@@ -45,15 +45,13 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
             <Button
                 value={AddIcon}
                 onClick={() => {
-                    throw new Error("Not implemented!!!")
-                    // Find a random name and remove it from the list
-                    const index = Math.floor(Math.random() * DefaultInputs.NAMES.length)
-                    const schemeName = DefaultInputs.NAMES[index]
-                    DefaultInputs.NAMES.splice(index, 1)
+                    // Assign a blank input scheme a random name
+                    const name = InputSchemeManager.randomAvailableName
+                    const scheme = DefaultInputs.newBlankScheme
+                    scheme.schemeName = name
 
-                    // TODO: Create a new blank scheme for this name
+                    InputSystem.brainIndexSchemeMap.set(SynthesisBrain.brainIndexMap.size - 1, scheme)
 
-                    // SynthesisBrain.triggerBrainConfiguredEvent(schemeName)
                     closePanel(panelId)
                 }}
             />

From 7357d3689b70d743484597e0afc58d71bd5aac07 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Thu, 18 Jul 2024 13:11:07 -0700
Subject: [PATCH 5/9] Input saving and configuration fixes

---
 fission/src/Synthesis.tsx                     |  28 +-
 fission/src/systems/input/DefaultInputs.ts    | 312 ++++++++++--------
 .../src/systems/input/InputSchemeManager.ts   |  58 +++-
 .../synthesis_brain/SynthesisBrain.ts         |  69 +---
 .../modals/configuring/ChangeInputsModal.tsx  | 238 +++++++------
 .../configuring/ResetAllInputsModal.tsx       |  56 +++-
 .../configuring/ChooseInputSchemePanel.tsx    |  19 +-
 .../ui/panels/mirabuf/ImportMirabufPanel.tsx  |   4 +-
 8 files changed, 392 insertions(+), 392 deletions(-)

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index d9ad0a1d8b..0d7d217fb8 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -53,6 +53,7 @@ import ImportMirabufPanel from "@/ui/panels/mirabuf/ImportMirabufPanel.tsx"
 import Skybox from "./ui/components/Skybox.tsx"
 import PokerPanel from "@/panels/PokerPanel.tsx"
 import ChooseInputSchemePanel from "./ui/panels/configuring/ChooseInputSchemePanel.tsx"
+import ResetAllInputsModal from "./ui/modals/configuring/ResetAllInputsModal.tsx"
 
 const DEFAULT_MIRA_PATH = "/api/mira/Robots/Team 2471 (2018)_v7.mira"
 
@@ -92,32 +93,6 @@ function Synthesis() {
             console.debug(`Selected Mirabuf File: ${mira_path}`)
         }
 
-        // TODO: do we actually want to spawn a robot right away when synthesis loads?
-        /* const setup = async () => {
-            const info = await MirabufCachingService.CacheRemote(mira_path, MiraType.ROBOT)
-                .catch(_ => MirabufCachingService.CacheRemote(DEFAULT_MIRA_PATH, MiraType.ROBOT))
-                .catch(console.error)
-
-            const miraAssembly = await MirabufCachingService.Get(info!.id, MiraType.ROBOT)
-
-            await (async () => {
-                if (!miraAssembly || !(miraAssembly instanceof mirabuf.Assembly)) {
-                    return
-                }
-
-                const parser = new MirabufParser(miraAssembly)
-                if (parser.maxErrorSeverity >= ParseErrorSeverity.Unimportable) {
-                    console.error(`Assembly Parser produced significant errors for '${miraAssembly.info!.name!}'`)
-                    return
-                }
-
-                const mirabufSceneObject = new MirabufSceneObject(new MirabufInstance(parser), miraAssembly.info!.name!)
-                World.SceneRenderer.RegisterSceneObject(mirabufSceneObject)
-            })()
-        } */
-
-        //setup()
-
         let mainLoopHandle = 0
         const mainLoop = () => {
             mainLoopHandle = requestAnimationFrame(mainLoop)
@@ -210,6 +185,7 @@ const initialModals = [
     <ConfigMotorModal key="config-motor" modalId="config-motor" />,
     <ManageAssembliesModal key="manage-assemblies" modalId="manage-assemblies" />,
     <ImportLocalMirabufModal key="import-local-mirabuf" modalId="import-local-mirabuf" />,
+    <ResetAllInputsModal key="reset-inputs" modalId="reset-inputs" />,
 ]
 
 const initialPanels: ReactElement[] = [
diff --git a/fission/src/systems/input/DefaultInputs.ts b/fission/src/systems/input/DefaultInputs.ts
index 5890b84e2f..9f8ff9ffc9 100644
--- a/fission/src/systems/input/DefaultInputs.ts
+++ b/fission/src/systems/input/DefaultInputs.ts
@@ -2,167 +2,187 @@ import { InputScheme } from "./InputSchemeManager"
 import { AxisInput, EmptyModifierState } from "./InputSystem"
 
 class DefaultInputs {
-    public static ernie: InputScheme = {
-        schemeName: "Ernie",
-        descriptiveName: "WASD",
-        customized: false,
-        usesGamepad: false,
-        inputs: [
-            new AxisInput("arcadeDrive", "KeyW", "KeyS"),
-            new AxisInput("arcadeTurn", "KeyD", "KeyA"),
+    static ernie = () => {
+        return {
+            schemeName: "Ernie",
+            descriptiveName: "WASD",
+            customized: false,
+            usesGamepad: false,
+            inputs: [
+                new AxisInput("arcadeDrive", "KeyW", "KeyS"),
+                new AxisInput("arcadeTurn", "KeyD", "KeyA"),
 
-            new AxisInput("joint 1", "Digit1", "Digit1", -1, false, false, -1, -1, false, EmptyModifierState, {
-                ctrl: false,
-                alt: false,
-                shift: true,
-                meta: false,
-            }),
-            new AxisInput("joint 2", "Digit2", "Digit2", -1, false, false, -1, -1, false, EmptyModifierState, {
-                ctrl: false,
-                alt: false,
-                shift: true,
-                meta: false,
-            }),
-            new AxisInput("joint 3", "Digit3", "Digit3", -1, false, false, -1, -1, false, EmptyModifierState, {
-                ctrl: false,
-                alt: false,
-                shift: true,
-                meta: false,
-            }),
-            new AxisInput("joint 4", "Digit4", "Digit4", -1, false, false, -1, -1, false, EmptyModifierState, {
-                ctrl: false,
-                alt: false,
-                shift: true,
-                meta: false,
-            }),
-            new AxisInput("joint 5", "Digit5", "Digit5", -1, false, false, -1, -1, false, EmptyModifierState, {
-                ctrl: false,
-                alt: false,
-                shift: true,
-                meta: false,
-            }),
-            new AxisInput("joint 6"),
-            new AxisInput("joint 7"),
-            new AxisInput("joint 8"),
-            new AxisInput("joint 9"),
-            new AxisInput("joint 10"),
-        ],
+                new AxisInput("joint 1", "Digit1", "Digit1", -1, false, false, -1, -1, false, EmptyModifierState, {
+                    ctrl: false,
+                    alt: false,
+                    shift: true,
+                    meta: false,
+                }),
+                new AxisInput("joint 2", "Digit2", "Digit2", -1, false, false, -1, -1, false, EmptyModifierState, {
+                    ctrl: false,
+                    alt: false,
+                    shift: true,
+                    meta: false,
+                }),
+                new AxisInput("joint 3", "Digit3", "Digit3", -1, false, false, -1, -1, false, EmptyModifierState, {
+                    ctrl: false,
+                    alt: false,
+                    shift: true,
+                    meta: false,
+                }),
+                new AxisInput("joint 4", "Digit4", "Digit4", -1, false, false, -1, -1, false, EmptyModifierState, {
+                    ctrl: false,
+                    alt: false,
+                    shift: true,
+                    meta: false,
+                }),
+                new AxisInput("joint 5", "Digit5", "Digit5", -1, false, false, -1, -1, false, EmptyModifierState, {
+                    ctrl: false,
+                    alt: false,
+                    shift: true,
+                    meta: false,
+                }),
+                new AxisInput("joint 6"),
+                new AxisInput("joint 7"),
+                new AxisInput("joint 8"),
+                new AxisInput("joint 9"),
+                new AxisInput("joint 10"),
+            ],
+        }
     }
 
-    public static luna: InputScheme = {
-        schemeName: "Luna",
-        descriptiveName: "Arrow Keys",
-        customized: false,
-        usesGamepad: false,
-        inputs: [
-            new AxisInput("arcadeDrive", "ArrowUp", "ArrowDown"),
-            new AxisInput("arcadeTurn", "ArrowRight", "ArrowLeft"),
+    public static luna = () => {
+        return {
+            schemeName: "Luna",
+            descriptiveName: "Arrow Keys",
+            customized: false,
+            usesGamepad: false,
+            inputs: [
+                new AxisInput("arcadeDrive", "ArrowUp", "ArrowDown"),
+                new AxisInput("arcadeTurn", "ArrowRight", "ArrowLeft"),
 
-            new AxisInput("joint 1", "Slash", "Slash", -1, false, false, -1, -1, false, EmptyModifierState, {
-                ctrl: true,
-                alt: false,
-                shift: false,
-                meta: false,
-            }),
-            new AxisInput("joint 2", "Period", "Period", -1, false, false, -1, -1, false, EmptyModifierState, {
-                ctrl: true,
-                alt: false,
-                shift: false,
-                meta: false,
-            }),
-            new AxisInput("joint 3", "Comma", "Comma", -1, false, false, -1, -1, false, EmptyModifierState, {
-                ctrl: true,
-                alt: false,
-                shift: false,
-                meta: false,
-            }),
-            new AxisInput("joint 4", "KeyM", "KeyM", -1, false, false, -1, -1, false, EmptyModifierState, {
-                ctrl: true,
-                alt: false,
-                shift: false,
-                meta: false,
-            }),
-            new AxisInput("joint 5", "KeyN", "true", -1, false, false, -1, -1, false, EmptyModifierState, {
-                ctrl: false,
-                alt: false,
-                shift: false,
-                meta: false,
-            }),
-            new AxisInput("joint 6"),
-            new AxisInput("joint 7"),
-            new AxisInput("joint 8"),
-            new AxisInput("joint 9"),
-            new AxisInput("joint 10"),
-        ],
+                new AxisInput("joint 1", "Slash", "Slash", -1, false, false, -1, -1, false, EmptyModifierState, {
+                    ctrl: true,
+                    alt: false,
+                    shift: false,
+                    meta: false,
+                }),
+                new AxisInput("joint 2", "Period", "Period", -1, false, false, -1, -1, false, EmptyModifierState, {
+                    ctrl: true,
+                    alt: false,
+                    shift: false,
+                    meta: false,
+                }),
+                new AxisInput("joint 3", "Comma", "Comma", -1, false, false, -1, -1, false, EmptyModifierState, {
+                    ctrl: true,
+                    alt: false,
+                    shift: false,
+                    meta: false,
+                }),
+                new AxisInput("joint 4", "KeyM", "KeyM", -1, false, false, -1, -1, false, EmptyModifierState, {
+                    ctrl: true,
+                    alt: false,
+                    shift: false,
+                    meta: false,
+                }),
+                new AxisInput("joint 5", "KeyN", "true", -1, false, false, -1, -1, false, EmptyModifierState, {
+                    ctrl: false,
+                    alt: false,
+                    shift: false,
+                    meta: false,
+                }),
+                new AxisInput("joint 6"),
+                new AxisInput("joint 7"),
+                new AxisInput("joint 8"),
+                new AxisInput("joint 9"),
+                new AxisInput("joint 10"),
+            ],
+        }
     }
 
-    public static jax: InputScheme = {
-        schemeName: "Jax",
-        descriptiveName: "Full Controller",
-        customized: false,
-        usesGamepad: true,
-        inputs: [
-            new AxisInput("arcadeDrive", "", "", 1, true),
-            new AxisInput("arcadeTurn", "", "", 2, false),
+    public static jax = () => {
+        return {
+            schemeName: "Jax",
+            descriptiveName: "Full Controller",
+            customized: false,
+            usesGamepad: true,
+            inputs: [
+                new AxisInput("arcadeDrive", "", "", 1, true),
+                new AxisInput("arcadeTurn", "", "", 2, false),
 
-            new AxisInput("joint 1", "", "", -1, false, true, 3, 0),
-            new AxisInput("joint 2", "", "", -1, false, true, 1, 2),
-            new AxisInput("joint 3", "", "", -1, false, true, 4, 5),
-            new AxisInput("joint 4", "", "", -1, false, true, 15, 14),
-            new AxisInput("joint 5", "", "", -1, false, true, 12, 13),
-            new AxisInput("joint 6"),
-            new AxisInput("joint 7"),
-            new AxisInput("joint 8"),
-            new AxisInput("joint 9"),
-            new AxisInput("joint 10"),
-        ],
+                new AxisInput("joint 1", "", "", -1, false, true, 3, 0),
+                new AxisInput("joint 2", "", "", -1, false, true, 1, 2),
+                new AxisInput("joint 3", "", "", -1, false, true, 4, 5),
+                new AxisInput("joint 4", "", "", -1, false, true, 15, 14),
+                new AxisInput("joint 5", "", "", -1, false, true, 12, 13),
+                new AxisInput("joint 6"),
+                new AxisInput("joint 7"),
+                new AxisInput("joint 8"),
+                new AxisInput("joint 9"),
+                new AxisInput("joint 10"),
+            ],
+        }
     }
 
-    public static hunter: InputScheme = {
-        schemeName: "Hunter",
-        descriptiveName: "Left Stick",
-        customized: false,
-        usesGamepad: true,
-        inputs: [
-            new AxisInput("arcadeDrive", "", "", 1, true),
-            new AxisInput("arcadeTurn", "", "", 0, false),
+    public static hunter = () => {
+        return {
+            schemeName: "Hunter",
+            descriptiveName: "Left Stick",
+            customized: false,
+            usesGamepad: true,
+            inputs: [
+                new AxisInput("arcadeDrive", "", "", 1, true),
+                new AxisInput("arcadeTurn", "", "", 0, false),
 
-            new AxisInput("joint 2", "", "", -1, false, true, 15, 14),
-            new AxisInput("joint 1", "", "", -1, false, true, 12, 13),
-            new AxisInput("joint 3"),
-            new AxisInput("joint 4"),
-            new AxisInput("joint 5"),
-            new AxisInput("joint 6"),
-            new AxisInput("joint 7"),
-            new AxisInput("joint 8"),
-            new AxisInput("joint 9"),
-            new AxisInput("joint 10"),
-        ],
+                new AxisInput("joint 2", "", "", -1, false, true, 15, 14),
+                new AxisInput("joint 1", "", "", -1, false, true, 12, 13),
+                new AxisInput("joint 3"),
+                new AxisInput("joint 4"),
+                new AxisInput("joint 5"),
+                new AxisInput("joint 6"),
+                new AxisInput("joint 7"),
+                new AxisInput("joint 8"),
+                new AxisInput("joint 9"),
+                new AxisInput("joint 10"),
+            ],
+        }
     }
 
-    public static carmela: InputScheme = {
-        schemeName: "Carmela",
-        descriptiveName: "Right Stick",
-        customized: false,
-        usesGamepad: true,
-        inputs: [
-            new AxisInput("arcadeDrive", "", "", 3, true),
-            new AxisInput("arcadeTurn", "", "", 2, false),
+    public static carmela = () => {
+        return {
+            schemeName: "Carmela",
+            descriptiveName: "Right Stick",
+            customized: false,
+            usesGamepad: true,
+            inputs: [
+                new AxisInput("arcadeDrive", "", "", 3, true),
+                new AxisInput("arcadeTurn", "", "", 2, false),
+
+                new AxisInput("joint 1", "", "", -1, false, true, 3, 0),
+                new AxisInput("joint 2", "", "", -1, false, true, 1, 2),
+                new AxisInput("joint 3"),
+                new AxisInput("joint 4"),
+                new AxisInput("joint 5"),
+                new AxisInput("joint 6"),
+                new AxisInput("joint 7"),
+                new AxisInput("joint 8"),
+                new AxisInput("joint 9"),
+                new AxisInput("joint 10"),
+            ],
+        }
+    }
 
-            new AxisInput("joint 1", "", "", -1, false, true, 3, 0),
-            new AxisInput("joint 2", "", "", -1, false, true, 1, 2),
-            new AxisInput("joint 3"),
-            new AxisInput("joint 4"),
-            new AxisInput("joint 5"),
-            new AxisInput("joint 6"),
-            new AxisInput("joint 7"),
-            new AxisInput("joint 8"),
-            new AxisInput("joint 9"),
-            new AxisInput("joint 10"),
-        ],
+    public static get defaultInputCopies() {
+        return [
+            DefaultInputs.ernie(),
+            DefaultInputs.luna(),
+            DefaultInputs.jax(),
+            DefaultInputs.hunter(),
+            DefaultInputs.carmela(),
+        ]
     }
 
-    public static get newBlankScheme() {
+    public static get newBlankScheme(): InputScheme {
         return {
             schemeName: "",
             descriptiveName: "",
diff --git a/fission/src/systems/input/InputSchemeManager.ts b/fission/src/systems/input/InputSchemeManager.ts
index be2023c3e0..5cbc80272b 100644
--- a/fission/src/systems/input/InputSchemeManager.ts
+++ b/fission/src/systems/input/InputSchemeManager.ts
@@ -64,38 +64,49 @@ class InputSchemeParser {
 }
 
 class InputSchemeManager {
-    private static _defaultInputSchemes: InputScheme[] = [
-        DefaultInputs.ernie,
-        DefaultInputs.luna,
-        DefaultInputs.jax,
-        DefaultInputs.hunter,
-        DefaultInputs.carmela,
-    ]
+    public static defaultInputSchemes: InputScheme[] = DefaultInputs.defaultInputCopies
 
     /** Creates an array of every input scheme that is either a default or customized by the user. Custom themes will appear on top. */
-    public static get availableInputSchemes(): InputScheme[] {
+    public static get allInputSchemes(): InputScheme[] {
         // Start with custom input schemes
-        const availableSchemes: InputScheme[] = []
+        const allSchemes: InputScheme[] = []
 
-        InputSchemeParser.customInputSchemes.forEach(s => availableSchemes.push(s))
+        InputSchemeParser.customInputSchemes.forEach(s => allSchemes.push(s))
 
         // Add default schemes if they have not been customized
-        this._defaultInputSchemes.forEach(defaultScheme => {
+        this.defaultInputSchemes.forEach(defaultScheme => {
             if (
-                availableSchemes.some(s => {
+                allSchemes.some(s => {
                     return s.schemeName === defaultScheme.schemeName
                 })
             )
                 return
 
-            availableSchemes.push(defaultScheme)
+            allSchemes.push(defaultScheme)
         })
 
+        return allSchemes
+    }
+
+    /** Creates an array of every input scheme that is not currently in use by a robot */
+    public static get availableInputSchemes(): InputScheme[] {
+        const allSchemes = this.allInputSchemes
+
         // Remove schemes that are in use
         const schemesInUse = Array.from(InputSystem.brainIndexSchemeMap.values())
-        return availableSchemes.filter(scheme => !schemesInUse.includes(scheme))
+        return allSchemes.filter(scheme => !schemesInUse.includes(scheme))
     }
 
+    // /** Creates an array of every input scheme that can be configured in the change inputs modal */
+    // public static get configurableInputSchemes(): InputScheme[] {
+    //     const schemes = this.availableInputSchemes
+    //     Array.from(InputSystem.brainIndexSchemeMap.values()).forEach(s => {
+    //         schemes.push(s)
+    //     })
+
+    //     return schemes
+    // }
+
     /** @returns a random available robot name */
     public static get randomAvailableName(): string {
         const usedNames = this.availableInputSchemes.map(s => s.schemeName)
@@ -108,7 +119,6 @@ class InputSchemeManager {
         let name = randomName()
         while (usedNames.includes(name)) name = randomName()
 
-        console.log(name)
         return name
     }
 
@@ -118,9 +128,27 @@ class InputSchemeManager {
             return s.customized
         })
 
+        this.defaultInputSchemes.forEach(s => {
+            if (s.customized) customizedSchemes.push(s)
+        })
+
         PreferencesSystem.setGlobalPreference("InputSchemes", customizedSchemes)
         PreferencesSystem.savePreferences()
     }
+
+    /** Returns a copy of a scheme without references to the original in any way */
+    public static copyScheme(scheme: InputScheme): InputScheme {
+        const copiedInputs: Input[] = []
+        scheme.inputs.forEach(i => copiedInputs.push(i.getCopy()))
+
+        return {
+            schemeName: scheme.schemeName,
+            descriptiveName: scheme.descriptiveName,
+            customized: scheme.customized,
+            usesGamepad: scheme.usesGamepad,
+            inputs: copiedInputs,
+        }
+    }
 }
 
 export default InputSchemeManager
diff --git a/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts b/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
index ec9024e208..c00af2d29b 100644
--- a/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
+++ b/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
@@ -15,6 +15,7 @@ import SliderDriver from "../driver/SliderDriver"
 import SliderStimulus from "../stimulus/SliderStimulus"
 import GenericElevatorBehavior from "../behavior/GenericElevatorBehavior"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
+import InputSystem from "@/systems/input/InputSystem"
 
 class SynthesisBrain extends Brain {
     private _behaviors: Behavior[] = []
@@ -26,15 +27,6 @@ class SynthesisBrain extends Brain {
     private _assemblyName: string
     private _brainIndex: number
 
-    // Tracks the number of each specific mira file spawned
-    // public static numberRobotsSpawned: { [key: string]: number } = {}
-
-    // A list of all the robots spawned including their assembly index
-    // public static robotsSpawned: string[] = []
-
-    // The total number of robots spawned
-    // public static currentBrainIndex: number = 0
-
     public static brainIndexMap = new Map<number, SynthesisBrain>()
 
     public constructor(mechanism: Mechanism, assemblyName: string) {
@@ -46,27 +38,16 @@ class SynthesisBrain extends Brain {
         this._brainIndex = SynthesisBrain.brainIndexMap.size
         SynthesisBrain.brainIndexMap.set(this._brainIndex, this)
 
-        console.log(SynthesisBrain.brainIndexMap)
-
         if (!this._simLayer) {
-            console.log("SimulationLayer is undefined")
+            console.error("SimulationLayer is undefined")
             return
         }
 
         // Only adds controls to mechanisms that are controllable (ignores fields)
         if (mechanism.controllable) {
-            /* if (SynthesisBrain.numberRobotsSpawned[assemblyName] == undefined)
-                SynthesisBrain.numberRobotsSpawned[assemblyName] = 0
-            else SynthesisBrain.numberRobotsSpawned[assemblyName]++
-
-            this._assemblyIndex = SynthesisBrain.numberRobotsSpawned[assemblyName]
-            SynthesisBrain.robotsSpawned.push(this.getNumberedAssemblyName()) */
             this.configureArcadeDriveBehavior()
             this.configureArmBehaviors()
             this.configureElevatorBehaviors()
-
-            window.addEventListener("brainConfigured", this.configureInputs as EventListener)
-            // console.log(this._assemblyIndex)
         } else {
             this.configureField()
         }
@@ -83,10 +64,7 @@ class SynthesisBrain extends Brain {
     }
 
     public clearControls(): void {
-        // TODO
-        throw new Error("Not Implemented")
-        // const index = SynthesisBrain.robotsSpawned.indexOf(this.getNumberedAssemblyName())
-        // SynthesisBrain.robotsSpawned.splice(index, 1)
+        InputSystem.brainIndexSchemeMap.delete(this._brainIndex)
     }
 
     // Creates an instance of ArcadeDriveBehavior and automatically configures it
@@ -173,50 +151,11 @@ class SynthesisBrain extends Brain {
         }
     }
 
-    private configureInputs(/* e: BrainConfiguredEvent */) {
-        // window.removeEventListener("brainConfigured", this.configureInputs as EventListener)
-        // console.log(this._assemblyIndex + " " + this._assemblyName + " configured with " + e.schemeName)
-        // // Check for existing inputs
-        // const robotConfig = PreferencesSystem.getRobotPreferences(this._assemblyName)
-        // if (robotConfig.inputsSchemes[this._assemblyIndex] != undefined) {
-        //     SynthesisBrain.parseInputs(robotConfig.inputsSchemes[this._assemblyIndex])
-        //     return
-        // }
-        // // Configure with default inputs
-        // const scheme = DefaultInputs.AVAILABLE_INPUT_SCHEMES[SynthesisBrain._currentBrainIndex]
-        // robotConfig.inputsSchemes[this._assemblyIndex] = {
-        //     schemeName: this._assemblyName,
-        //     descriptiveName: "",
-        //     customized: false,
-        //     usesGamepad: scheme?.usesGamepad ?? false,
-        //     inputs: [],
-        // }
-        // const inputList = robotConfig.inputsSchemes[this._assemblyIndex].inputs
-        // if (scheme) {
-        //     const arcadeDrive = scheme.inputs.find(i => i.inputName === "arcadeDrive")
-        //     if (arcadeDrive) inputList.push(arcadeDrive.getCopy())
-        //     else inputList.push(new AxisInput("arcadeDrive"))
-        //     const arcadeTurn = scheme.inputs.find(i => i.inputName === "arcadeTurn")
-        //     if (arcadeTurn) inputList.push(arcadeTurn.getCopy())
-        //     else inputList.push(new AxisInput("arcadeTurn"))
-        //     for (let i = 1; i < this._currentJointIndex; i++) {
-        //         const controlPreset = scheme.inputs.find(input => input.inputName == "joint " + i)
-        //         if (controlPreset) inputList.push(controlPreset.getCopy())
-        //         else inputList.push(new AxisInput("joint " + i))
-        //     }
-        // }
-    }
-
     private configureField() {
-        const fieldPrefs = PreferencesSystem.getFieldPreferences(this._assemblyName)
-        console.log("Loaded field prefs " + fieldPrefs)
+        PreferencesSystem.getFieldPreferences(this._assemblyName)
 
         /** Put any scoring zone or other field configuration here */
     }
-
-    /* private getNumberedAssemblyName(): string {
-        return `[${this._assemblyIndex}] ${this._assemblyName}`
-    } */
 }
 
 export default SynthesisBrain
diff --git a/fission/src/ui/modals/configuring/ChangeInputsModal.tsx b/fission/src/ui/modals/configuring/ChangeInputsModal.tsx
index c45cb465a0..8c7747df6b 100644
--- a/fission/src/ui/modals/configuring/ChangeInputsModal.tsx
+++ b/fission/src/ui/modals/configuring/ChangeInputsModal.tsx
@@ -108,11 +108,10 @@ const ChangeInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const [useButtons, setUseButtons] = useState<UseButtonsState>({})
 
     // If there is a robot spawned, set it as the selected robot
-    if (selectedScheme == null && InputSystem.brainIndexSchemeMap.size > 0) {
+    if (selectedScheme == null && InputSchemeManager.allInputSchemes.length > 0) {
         setTimeout(() => {
             if (!InputSystem.selectedScheme) {
-                InputSystem.selectedScheme = InputSystem.brainIndexSchemeMap.values().next().value
-                console.log("set selected to " + InputSystem.selectedScheme)
+                InputSystem.selectedScheme = InputSchemeManager.allInputSchemes[0]
             }
 
             setUseButtons({})
@@ -351,40 +350,39 @@ const ChangeInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                 InputSystem.selectedScheme = undefined
             }}
         >
-            {InputSystem.brainIndexSchemeMap.size > 0 ? (
-                <>
-                    <Stack direction={StackDirection.Horizontal} spacing={25}>
-                        <div>
-                            <Stack direction={StackDirection.Vertical} spacing={10}>
-                                <Dropdown
-                                    label={"Select Robot"}
-                                    // Moves the selected option to the start of the array
-                                    options={moveElementToTop(
-                                        Array.from(InputSystem.brainIndexSchemeMap.values()).map(s => s.schemeName),
-                                        InputSystem?.selectedScheme?.schemeName
-                                    )}
-                                    onSelect={value => {
-                                        const schemeData = Array.from(InputSystem.brainIndexSchemeMap.entries()).find(
-                                            s => s[1].schemeName == value
-                                        )
-                                        if (!schemeData || schemeData[1] == selectedScheme) return
-
-                                        setSelectedScheme(undefined)
-                                        InputSystem.selectedScheme = schemeData[1]
-                                    }}
-                                />
-                                {selectedScheme ? (
-                                    <>
-                                        <Checkbox
-                                            label="Use Controller"
-                                            defaultState={selectedScheme?.usesGamepad ?? false}
-                                            onClick={val => {
-                                                setUseGamepad(val)
-                                                if (selectedScheme) selectedScheme.usesGamepad = val
-                                            }}
-                                        />
-                                        <Label size={LabelSize.Medium}>Default Control Schemes</Label>
-                                        {/**
+            <>
+                <Stack direction={StackDirection.Horizontal} spacing={25}>
+                    <div>
+                        <Stack direction={StackDirection.Vertical} spacing={10}>
+                            <Dropdown
+                                label={"Select Robot"}
+                                // Moves the selected option to the start of the array
+                                options={moveElementToTop(
+                                    InputSchemeManager.allInputSchemes.map(s => s.schemeName),
+                                    InputSystem?.selectedScheme?.schemeName
+                                )}
+                                onSelect={value => {
+                                    const schemeData = InputSchemeManager.allInputSchemes.find(
+                                        s => s.schemeName == value
+                                    )
+                                    if (!schemeData || schemeData == selectedScheme) return
+
+                                    setSelectedScheme(undefined)
+                                    InputSystem.selectedScheme = schemeData
+                                }}
+                            />
+                            {selectedScheme ? (
+                                <>
+                                    <Checkbox
+                                        label="Use Controller"
+                                        defaultState={selectedScheme?.usesGamepad ?? false}
+                                        onClick={val => {
+                                            setUseGamepad(val)
+                                            if (selectedScheme) selectedScheme.usesGamepad = val
+                                        }}
+                                    />
+                                    <Label size={LabelSize.Medium}>Default Control Schemes</Label>
+                                    {/**
                                             <Dropdown
                                                 label={""}
                                                 // Moves the selected option to the start of the array
@@ -420,94 +418,92 @@ const ChangeInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                                                 }}
                                             />
                                         */}
-                                        <Button
-                                            value={"Reset all to Defaults"}
-                                            onClick={() => {
-                                                openModal("reset-inputs")
-                                            }}
-                                        />
-                                    </>
-                                ) : (
-                                    <Label>No robot selected.</Label>
-                                )}
-                            </Stack>
-                        </div>
-                        <div
-                            className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[60vh] bg-background-secondary rounded-md p-2"
-                            onKeyUp={e => {
-                                setChosenKey(selectedInput ? e.code : "")
-                                setModifierState({
-                                    ctrl: e.ctrlKey,
-                                    alt: e.altKey,
-                                    shift: e.shiftKey,
-                                    meta: e.metaKey,
-                                })
-                            }}
-                        >
-                            {selectedScheme ? (
-                                <>
-                                    <Stack direction={StackDirection.Vertical} spacing={20}>
-                                        {selectedScheme.inputs.map(c => {
-                                            if (!useGamepad) {
-                                                // Keyboard button
-                                                if (c instanceof ButtonInput) {
-                                                    return KeyboardButtonSelection(c)
-                                                }
-                                                // Keyboard Axis
-                                                else if (c instanceof AxisInput) {
-                                                    return KeyboardAxisSelection(c)
-                                                }
-                                            } else {
-                                                // Joystick Button
-                                                if (c instanceof ButtonInput) {
-                                                    return JoystickButtonSelection(c)
-                                                }
-
-                                                // Gamepad axis
-                                                else if (c instanceof AxisInput) {
-                                                    return (
-                                                        <div key={c.inputName}>
-                                                            {useButtons[c.inputName]
-                                                                ? GamepadButtonAxisSelection(c)
-                                                                : // Gamepad joystick axis
-                                                                  JoystickAxisSelection(c)}
-
-                                                            {/* // Button to switch between two buttons and a joystick axis */}
-                                                            <Checkbox
-                                                                label="Use Buttons"
-                                                                defaultState={c.useGamepadButtons}
-                                                                onClick={val => {
-                                                                    setUseButtons(prevState => ({
-                                                                        ...prevState,
-                                                                        [c.inputName]: val,
-                                                                    }))
-                                                                    c.useGamepadButtons = val
-                                                                }}
-                                                            />
-                                                            {/* // Button to invert the joystick axis */}
-                                                            <Checkbox
-                                                                label="Joystick Inverted"
-                                                                defaultState={c.joystickInverted}
-                                                                onClick={val => {
-                                                                    c.joystickInverted = val
-                                                                }}
-                                                            />
-                                                        </div>
-                                                    )
-                                                }
-                                            }
-                                        })}
-                                    </Stack>
+                                    <Button
+                                        value={"Reset all to Defaults"}
+                                        onClick={() => {
+                                            throw new Error("not implemented")
+                                            //openModal("reset-inputs")
+                                        }}
+                                    />
                                 </>
                             ) : (
                                 <Label>No robot selected.</Label>
                             )}
-                        </div>
-                    </Stack>
-                </>
-            ) : (
-                <Label size={LabelSize.Medium}>Spawn a robot to edit controls</Label>
-            )}
+                        </Stack>
+                    </div>
+                    <div
+                        className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[60vh] bg-background-secondary rounded-md p-2"
+                        onKeyUp={e => {
+                            setChosenKey(selectedInput ? e.code : "")
+                            setModifierState({
+                                ctrl: e.ctrlKey,
+                                alt: e.altKey,
+                                shift: e.shiftKey,
+                                meta: e.metaKey,
+                            })
+                        }}
+                    >
+                        {selectedScheme ? (
+                            <>
+                                <Stack direction={StackDirection.Vertical} spacing={20}>
+                                    {selectedScheme.inputs.map(c => {
+                                        if (!useGamepad) {
+                                            // Keyboard button
+                                            if (c instanceof ButtonInput) {
+                                                return KeyboardButtonSelection(c)
+                                            }
+                                            // Keyboard Axis
+                                            else if (c instanceof AxisInput) {
+                                                return KeyboardAxisSelection(c)
+                                            }
+                                        } else {
+                                            // Joystick Button
+                                            if (c instanceof ButtonInput) {
+                                                return JoystickButtonSelection(c)
+                                            }
+
+                                            // Gamepad axis
+                                            else if (c instanceof AxisInput) {
+                                                return (
+                                                    <div key={c.inputName}>
+                                                        {useButtons[c.inputName]
+                                                            ? GamepadButtonAxisSelection(c)
+                                                            : // Gamepad joystick axis
+                                                              JoystickAxisSelection(c)}
+
+                                                        {/* // Button to switch between two buttons and a joystick axis */}
+                                                        <Checkbox
+                                                            label="Use Buttons"
+                                                            defaultState={c.useGamepadButtons}
+                                                            onClick={val => {
+                                                                setUseButtons(prevState => ({
+                                                                    ...prevState,
+                                                                    [c.inputName]: val,
+                                                                }))
+                                                                c.useGamepadButtons = val
+                                                            }}
+                                                        />
+                                                        {/* // Button to invert the joystick axis */}
+                                                        <Checkbox
+                                                            label="Joystick Inverted"
+                                                            defaultState={c.joystickInverted}
+                                                            onClick={val => {
+                                                                c.joystickInverted = val
+                                                            }}
+                                                        />
+                                                    </div>
+                                                )
+                                            }
+                                        }
+                                    })}
+                                </Stack>
+                            </>
+                        ) : (
+                            <Label>No robot selected.</Label>
+                        )}
+                    </div>
+                </Stack>
+            </>
         </Modal>
     )
 }
diff --git a/fission/src/ui/modals/configuring/ResetAllInputsModal.tsx b/fission/src/ui/modals/configuring/ResetAllInputsModal.tsx
index 728456b19d..7ba5e81ae0 100644
--- a/fission/src/ui/modals/configuring/ResetAllInputsModal.tsx
+++ b/fission/src/ui/modals/configuring/ResetAllInputsModal.tsx
@@ -4,6 +4,7 @@ import { GrFormClose } from "react-icons/gr"
 import { useModalControlContext } from "@/ui/ModalContext"
 import InputSystem from "@/systems/input/InputSystem"
 import InputSchemeManager from "@/systems/input/InputSchemeManager"
+import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 
 const ResetAllInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const { openModal } = useModalControlContext()
@@ -14,25 +15,50 @@ const ResetAllInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
             icon={<GrFormClose />}
             modalId={modalId}
             onAccept={() => {
-                let i = 0
-                InputSystem.allInputs.forEach(currentScheme => {
-                    const scheme = InputSchemeManager.availableInputSchemes[i]
-                    if (!currentScheme || !scheme) return
+                // Wipe global input scheme prefs
+                PreferencesSystem.setGlobalPreference("InputSchemes", [])
 
-                    scheme.inputs.forEach(newInput => {
-                        const currentInput = currentScheme.inputs.find(i => i.inputName == newInput.inputName)
+                // // Reset default schemes in scheme map
+                // InputSystem.brainIndexSchemeMap.forEach((scheme, brainIndex) => {
+                //     // If the scheme is in default, reset it to the default
 
-                        if (currentInput) {
-                            const inputIndex = currentScheme.inputs.indexOf(currentInput)
+                //     const defaults = InputSchemeManager.defaultInputSchemes
 
-                            currentScheme.inputs[inputIndex] = newInput.getCopy()
-                        }
-                    })
-                    currentScheme.usesGamepad = scheme.usesGamepad
+                //     defaults.forEach(d => {
+                //         if (d.schemeName == scheme.schemeName) {
+                //             InputSystem.brainIndexSchemeMap.set(brainIndex, d)
+                //         }
+                //         return
+                //     })
 
-                    i++
-                })
-                openModal("change-inputs")
+                //     return
+                // })
+
+                // Regenerate blank schemes in scheme map and add them to preferences
+
+                // Save preferences
+                InputSystem.brainIndexSchemeMap.clear()
+                PreferencesSystem.savePreferences()
+
+                // let i = 0
+                // InputSystem.allInputs.forEach(currentScheme => {
+                //     const scheme = InputSchemeManager.availableInputSchemes[i]
+                //     if (!currentScheme || !scheme) return
+
+                //     scheme.inputs.forEach(newInput => {
+                //         const currentInput = currentScheme.inputs.find(i => i.inputName == newInput.inputName)
+
+                //         if (currentInput) {
+                //             const inputIndex = currentScheme.inputs.indexOf(currentInput)
+
+                //             currentScheme.inputs[inputIndex] = newInput.getCopy()
+                //         }
+                //     })
+                //     currentScheme.usesGamepad = scheme.usesGamepad
+
+                //     i++
+                // })
+                // openModal("change-inputs")
             }}
             onCancel={() => {
                 openModal("change-inputs")
diff --git a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
index 2082f95f47..7db8ba1e7a 100644
--- a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
+++ b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
@@ -4,6 +4,7 @@ import InputSchemeManager from "@/systems/input/InputSchemeManager"
 import InputSystem from "@/systems/input/InputSystem"
 import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
 import Button from "@/ui/components/Button"
+import { useModalControlContext } from "@/ui/ModalContext"
 import { usePanelControlContext } from "@/ui/PanelContext"
 import { Box } from "@mui/material"
 import { useEffect } from "react"
@@ -11,10 +12,23 @@ import { AiOutlinePlus } from "react-icons/ai"
 
 const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
     const { closePanel } = usePanelControlContext()
+    const { openModal } = useModalControlContext()
     const AddIcon = <AiOutlinePlus size={"1.25rem"} />
 
     useEffect(() => {
         closePanel("import-mirabuf")
+
+        return () => {
+            const brainIndex = SynthesisBrain.brainIndexMap.size - 1
+
+            if (InputSystem.brainIndexSchemeMap.has(brainIndex)) return
+
+            let scheme = InputSchemeManager.availableInputSchemes[0]
+            //if (!scheme.customized) scheme = InputSchemeManager.copyScheme(scheme)
+            InputSystem.brainIndexSchemeMap.set(brainIndex, scheme)
+
+            openModal("change-inputs")
+        }
     }, [])
 
     return (
@@ -33,6 +47,8 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                         <Button
                             value={`${scheme.schemeName} | ${scheme.customized ? "Custom" : scheme.descriptiveName}`}
                             onClick={() => {
+                                //if (!scheme.customized) scheme = InputSchemeManager.copyScheme(scheme)
+
                                 InputSystem.brainIndexSchemeMap.set(SynthesisBrain.brainIndexMap.size - 1, scheme)
                                 closePanel(panelId)
                             }}
@@ -51,8 +67,7 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                     scheme.schemeName = name
 
                     InputSystem.brainIndexSchemeMap.set(SynthesisBrain.brainIndexMap.size - 1, scheme)
-
-                    closePanel(panelId)
+                    openModal("change-inputs")
                 }}
             />
             <Box height="12px"></Box>
diff --git a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
index 6ed84f551c..7e0ea3d753 100644
--- a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
+++ b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
@@ -229,7 +229,7 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
 
             if (type == MiraType.ROBOT) openPanel("choose-scheme")
         },
-        [showTooltip, closePanel, panelId]
+        [showTooltip, closePanel, panelId, openPanel]
     )
 
     // Cache a selected remote mirabuf assembly, load from cache.
@@ -242,7 +242,7 @@ const ImportMirabufPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
 
             if (type == MiraType.ROBOT) openPanel("choose-scheme")
         },
-        [closePanel, panelId]
+        [closePanel, panelId, openPanel]
     )
 
     const selectAPS = useCallback(

From 2f8b6400ee74b70f55c584c298f9eff74b87b782 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Thu, 18 Jul 2024 14:26:50 -0700
Subject: [PATCH 6/9] Reset all inputs works and ejector + intake bindings

---
 fission/src/systems/input/DefaultInputs.ts    | 43 +++++++++++++------
 .../src/systems/input/InputSchemeManager.ts   |  9 ++--
 fission/src/systems/input/InputSystem.ts      | 18 ++------
 .../configuring/ChooseInputSchemePanel.tsx    |  4 ++
 4 files changed, 42 insertions(+), 32 deletions(-)

diff --git a/fission/src/systems/input/DefaultInputs.ts b/fission/src/systems/input/DefaultInputs.ts
index 9f8ff9ffc9..cb88a0f834 100644
--- a/fission/src/systems/input/DefaultInputs.ts
+++ b/fission/src/systems/input/DefaultInputs.ts
@@ -1,5 +1,5 @@
 import { InputScheme } from "./InputSchemeManager"
-import { AxisInput, EmptyModifierState } from "./InputSystem"
+import { AxisInput, ButtonInput, EmptyModifierState } from "./InputSystem"
 
 class DefaultInputs {
     static ernie = () => {
@@ -12,31 +12,34 @@ class DefaultInputs {
                 new AxisInput("arcadeDrive", "KeyW", "KeyS"),
                 new AxisInput("arcadeTurn", "KeyD", "KeyA"),
 
-                new AxisInput("joint 1", "Digit1", "Digit1", -1, false, false, -1, -1, false, EmptyModifierState, {
+                new ButtonInput("intake", "KeyE"),
+                new ButtonInput("eject", "KeyQ"),
+
+                new AxisInput("joint 1", "Digit1", "Digit1", -1, false, false, -1, -1, EmptyModifierState, {
                     ctrl: false,
                     alt: false,
                     shift: true,
                     meta: false,
                 }),
-                new AxisInput("joint 2", "Digit2", "Digit2", -1, false, false, -1, -1, false, EmptyModifierState, {
+                new AxisInput("joint 2", "Digit2", "Digit2", -1, false, false, -1, -1, EmptyModifierState, {
                     ctrl: false,
                     alt: false,
                     shift: true,
                     meta: false,
                 }),
-                new AxisInput("joint 3", "Digit3", "Digit3", -1, false, false, -1, -1, false, EmptyModifierState, {
+                new AxisInput("joint 3", "Digit3", "Digit3", -1, false, false, -1, -1, EmptyModifierState, {
                     ctrl: false,
                     alt: false,
                     shift: true,
                     meta: false,
                 }),
-                new AxisInput("joint 4", "Digit4", "Digit4", -1, false, false, -1, -1, false, EmptyModifierState, {
+                new AxisInput("joint 4", "Digit4", "Digit4", -1, false, false, -1, -1, EmptyModifierState, {
                     ctrl: false,
                     alt: false,
                     shift: true,
                     meta: false,
                 }),
-                new AxisInput("joint 5", "Digit5", "Digit5", -1, false, false, -1, -1, false, EmptyModifierState, {
+                new AxisInput("joint 5", "Digit5", "Digit5", -1, false, false, -1, -1, EmptyModifierState, {
                     ctrl: false,
                     alt: false,
                     shift: true,
@@ -61,31 +64,34 @@ class DefaultInputs {
                 new AxisInput("arcadeDrive", "ArrowUp", "ArrowDown"),
                 new AxisInput("arcadeTurn", "ArrowRight", "ArrowLeft"),
 
-                new AxisInput("joint 1", "Slash", "Slash", -1, false, false, -1, -1, false, EmptyModifierState, {
+                new ButtonInput("intake", "Semicolon"),
+                new ButtonInput("eject", "KeyL"),
+
+                new AxisInput("joint 1", "Slash", "Slash", -1, false, false, -1, -1, EmptyModifierState, {
                     ctrl: true,
                     alt: false,
                     shift: false,
                     meta: false,
                 }),
-                new AxisInput("joint 2", "Period", "Period", -1, false, false, -1, -1, false, EmptyModifierState, {
+                new AxisInput("joint 2", "Period", "Period", -1, false, false, -1, -1, EmptyModifierState, {
                     ctrl: true,
                     alt: false,
                     shift: false,
                     meta: false,
                 }),
-                new AxisInput("joint 3", "Comma", "Comma", -1, false, false, -1, -1, false, EmptyModifierState, {
+                new AxisInput("joint 3", "Comma", "Comma", -1, false, false, -1, -1, EmptyModifierState, {
                     ctrl: true,
                     alt: false,
                     shift: false,
                     meta: false,
                 }),
-                new AxisInput("joint 4", "KeyM", "KeyM", -1, false, false, -1, -1, false, EmptyModifierState, {
+                new AxisInput("joint 4", "KeyM", "KeyM", -1, false, false, -1, -1, EmptyModifierState, {
                     ctrl: true,
                     alt: false,
                     shift: false,
                     meta: false,
                 }),
-                new AxisInput("joint 5", "KeyN", "true", -1, false, false, -1, -1, false, EmptyModifierState, {
+                new AxisInput("joint 5", "KeyN", "true", -1, false, false, -1, -1, EmptyModifierState, {
                     ctrl: false,
                     alt: false,
                     shift: false,
@@ -110,11 +116,14 @@ class DefaultInputs {
                 new AxisInput("arcadeDrive", "", "", 1, true),
                 new AxisInput("arcadeTurn", "", "", 2, false),
 
+                new ButtonInput("intake", "", 4),
+                new ButtonInput("eject", "", 5),
+
                 new AxisInput("joint 1", "", "", -1, false, true, 3, 0),
                 new AxisInput("joint 2", "", "", -1, false, true, 1, 2),
-                new AxisInput("joint 3", "", "", -1, false, true, 4, 5),
-                new AxisInput("joint 4", "", "", -1, false, true, 15, 14),
-                new AxisInput("joint 5", "", "", -1, false, true, 12, 13),
+                new AxisInput("joint 3", "", "", -1, false, true, 15, 14),
+                new AxisInput("joint 4", "", "", -1, false, true, 12, 13),
+                new AxisInput("joint 5"),
                 new AxisInput("joint 6"),
                 new AxisInput("joint 7"),
                 new AxisInput("joint 8"),
@@ -134,6 +143,9 @@ class DefaultInputs {
                 new AxisInput("arcadeDrive", "", "", 1, true),
                 new AxisInput("arcadeTurn", "", "", 0, false),
 
+                new ButtonInput("intake", "", 4),
+                new ButtonInput("eject", "", 5),
+
                 new AxisInput("joint 2", "", "", -1, false, true, 15, 14),
                 new AxisInput("joint 1", "", "", -1, false, true, 12, 13),
                 new AxisInput("joint 3"),
@@ -158,6 +170,9 @@ class DefaultInputs {
                 new AxisInput("arcadeDrive", "", "", 3, true),
                 new AxisInput("arcadeTurn", "", "", 2, false),
 
+                new ButtonInput("intake", "", 4),
+                new ButtonInput("eject", "", 5),
+
                 new AxisInput("joint 1", "", "", -1, false, true, 3, 0),
                 new AxisInput("joint 2", "", "", -1, false, true, 1, 2),
                 new AxisInput("joint 3"),
diff --git a/fission/src/systems/input/InputSchemeManager.ts b/fission/src/systems/input/InputSchemeManager.ts
index 97b26e0d8e..058dabb40d 100644
--- a/fission/src/systems/input/InputSchemeManager.ts
+++ b/fission/src/systems/input/InputSchemeManager.ts
@@ -25,6 +25,10 @@ class InputSchemeManager {
         return this._customSchemes
     }
 
+    public static addCustomScheme(scheme: InputScheme) {
+        this.customInputSchemes.push(scheme)
+    }
+
     private static parseScheme(rawInputs: InputScheme) {
         for (let i = 0; i < rawInputs.inputs.length; i++) {
             const rawInput = rawInputs.inputs[i]
@@ -37,7 +41,6 @@ class InputSchemeManager {
                     rawButton.inputName,
                     rawButton.keyCode,
                     rawButton.gamepadButton,
-                    rawButton.isGlobal,
                     rawButton.keyModifiers
                 )
             } else {
@@ -52,7 +55,6 @@ class InputSchemeManager {
                     rawAxis.useGamepadButtons,
                     rawAxis.posGamepadButton,
                     rawAxis.negGamepadButton,
-                    rawAxis.isGlobal,
                     rawAxis.posKeyModifiers,
                     rawAxis.negKeyModifiers
                 )
@@ -66,7 +68,6 @@ class InputSchemeManager {
 
     public static resetDefaultSchemes() {
         this.defaultInputSchemes = DefaultInputs.defaultInputCopies
-        this.defaultInputSchemes.forEach(s => console.log(s.customized))
         this._customSchemes = undefined
     }
 
@@ -75,7 +76,7 @@ class InputSchemeManager {
         // Start with custom input schemes
         const allSchemes: InputScheme[] = []
 
-        InputSchemeManager.customInputSchemes.forEach(s => allSchemes.push(s))
+        this.customInputSchemes.forEach(s => allSchemes.push(s))
 
         // Add default schemes if they have not been customized
         this.defaultInputSchemes.forEach(defaultScheme => {
diff --git a/fission/src/systems/input/InputSystem.ts b/fission/src/systems/input/InputSystem.ts
index 786a7c0960..c344e9afa4 100644
--- a/fission/src/systems/input/InputSystem.ts
+++ b/fission/src/systems/input/InputSystem.ts
@@ -12,11 +12,9 @@ export const EmptyModifierState: ModifierState = { ctrl: false, alt: false, shif
 // Represents any input
 abstract class Input {
     public inputName: string
-    public isGlobal: boolean
 
-    constructor(inputName: string, isGlobal: boolean) {
+    constructor(inputName: string) {
         this.inputName = inputName
-        this.isGlobal = isGlobal
     }
 
     // Returns the current value of the input. Range depends on input type
@@ -33,14 +31,8 @@ class ButtonInput extends Input {
 
     public gamepadButton: number
 
-    public constructor(
-        inputName: string,
-        keyCode?: string,
-        gamepadButton?: number,
-        isGlobal?: boolean,
-        keyModifiers?: ModifierState
-    ) {
-        super(inputName, isGlobal ?? false)
+    public constructor(inputName: string, keyCode?: string, gamepadButton?: number, keyModifiers?: ModifierState) {
+        super(inputName)
         this.keyCode = keyCode ?? ""
         this.keyModifiers = keyModifiers ?? EmptyModifierState
         this.gamepadButton = gamepadButton ?? -1
@@ -84,11 +76,10 @@ class AxisInput extends Input {
         useGamepadButtons?: boolean,
         posGamepadButton?: number,
         negGamepadButton?: number,
-        isGlobal?: boolean,
         posKeyModifiers?: ModifierState,
         negKeyModifiers?: ModifierState
     ) {
-        super(inputName, isGlobal ?? false)
+        super(inputName)
 
         this.posKeyCode = posKeyCode ?? ""
         this.posKeyModifiers = posKeyModifiers ?? EmptyModifierState
@@ -135,7 +126,6 @@ class AxisInput extends Input {
             this.useGamepadButtons,
             this.posGamepadButton,
             this.negGamepadButton,
-            this.isGlobal,
             this.posKeyModifiers,
             this.negKeyModifiers
         )
diff --git a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
index 7db8ba1e7a..eb3c896d67 100644
--- a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
+++ b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
@@ -26,6 +26,7 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
             let scheme = InputSchemeManager.availableInputSchemes[0]
             //if (!scheme.customized) scheme = InputSchemeManager.copyScheme(scheme)
             InputSystem.brainIndexSchemeMap.set(brainIndex, scheme)
+            InputSystem.selectedScheme = scheme
 
             openModal("change-inputs")
         }
@@ -67,6 +68,9 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                     scheme.schemeName = name
 
                     InputSystem.brainIndexSchemeMap.set(SynthesisBrain.brainIndexMap.size - 1, scheme)
+                    InputSystem.selectedScheme = scheme
+                    InputSchemeManager.addCustomScheme(scheme)
+
                     openModal("change-inputs")
                 }}
             />

From dce6f7224bdc29bf7cb9c9d70312b5805223f2be Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Thu, 18 Jul 2024 14:54:19 -0700
Subject: [PATCH 7/9] lint fix and format

---
 fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
index eb3c896d67..66f2d8d9a8 100644
--- a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
+++ b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
@@ -23,8 +23,8 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
 
             if (InputSystem.brainIndexSchemeMap.has(brainIndex)) return
 
-            let scheme = InputSchemeManager.availableInputSchemes[0]
-            //if (!scheme.customized) scheme = InputSchemeManager.copyScheme(scheme)
+            const scheme = InputSchemeManager.availableInputSchemes[0]
+
             InputSystem.brainIndexSchemeMap.set(brainIndex, scheme)
             InputSystem.selectedScheme = scheme
 

From cade5f05eb481e35e5fcd702b1516b47a5e5dd88 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Fri, 19 Jul 2024 10:41:54 -0700
Subject: [PATCH 8/9] UI improvements, bug fixes, comments, and cleanup for
 named inputs

---
 .../src/systems/input/InputSchemeManager.ts   |   3 +
 fission/src/systems/input/InputSystem.ts      |   2 -
 .../systems/preferences/PreferenceTypes.ts    |   1 -
 .../synthesis_brain/SynthesisBrain.ts         |  15 +--
 .../modals/configuring/ChangeInputsModal.tsx  |  37 ------
 .../configuring/ResetAllInputsModal.tsx       |  43 +------
 .../configuring/ChooseInputSchemePanel.tsx    | 108 +++++++++++++++---
 7 files changed, 103 insertions(+), 106 deletions(-)

diff --git a/fission/src/systems/input/InputSchemeManager.ts b/fission/src/systems/input/InputSchemeManager.ts
index 058dabb40d..a5b7a6c70b 100644
--- a/fission/src/systems/input/InputSchemeManager.ts
+++ b/fission/src/systems/input/InputSchemeManager.ts
@@ -11,6 +11,7 @@ export type InputScheme = {
 }
 
 class InputSchemeManager {
+    // References to the current custom schemes to avoid parsing every time they are requested
     private static _customSchemes: InputScheme[] | undefined
 
     /** Fetches custom input schemes from preferences manager */
@@ -25,10 +26,12 @@ class InputSchemeManager {
         return this._customSchemes
     }
 
+    /** Registers a new custom scheme */
     public static addCustomScheme(scheme: InputScheme) {
         this.customInputSchemes.push(scheme)
     }
 
+    /** Parses a schemes inputs into working Input instances */
     private static parseScheme(rawInputs: InputScheme) {
         for (let i = 0; i < rawInputs.inputs.length; i++) {
             const rawInput = rawInputs.inputs[i]
diff --git a/fission/src/systems/input/InputSystem.ts b/fission/src/systems/input/InputSystem.ts
index 017f09c0bb..3a396f8968 100644
--- a/fission/src/systems/input/InputSystem.ts
+++ b/fission/src/systems/input/InputSystem.ts
@@ -240,9 +240,7 @@ class InputSystem extends WorldSystem {
 
         if (targetScheme == null || targetInput == null) return 0
 
-        // TODO
         return targetInput.getValue(targetScheme.usesGamepad)
-        return 0.0
     }
 
     // Returns true if two modifier states are identical
diff --git a/fission/src/systems/preferences/PreferenceTypes.ts b/fission/src/systems/preferences/PreferenceTypes.ts
index ac059f24a4..e9e72ddbfb 100644
--- a/fission/src/systems/preferences/PreferenceTypes.ts
+++ b/fission/src/systems/preferences/PreferenceTypes.ts
@@ -58,7 +58,6 @@ export type ScoringZonePreferences = {
     persistentPoints: boolean
 
     deltaTransformation: number[]
-    //scale: [number, number, number]
 }
 
 export type FieldPreferences = {
diff --git a/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts b/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
index 484a70d606..feb87d70bf 100644
--- a/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
+++ b/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
@@ -18,8 +18,7 @@ import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 import InputSystem from "@/systems/input/InputSystem"
 
 class SynthesisBrain extends Brain {
-    private _behaviors: Behavior[] = []
-    private _simLayer: SimulationLayer
+    public static brainIndexMap = new Map<number, SynthesisBrain>()
 
     public get inputSchemeName(): string {
         const scheme = InputSystem.brainIndexSchemeMap.get(this._brainIndex)
@@ -28,16 +27,13 @@ class SynthesisBrain extends Brain {
         return scheme.schemeName
     }
 
-    // Tracks how many joins have been made with unique controls
-    private _currentJointIndex = 1
-
+    private _behaviors: Behavior[] = []
+    private _simLayer: SimulationLayer
     private _assemblyName: string
     private _brainIndex: number
 
-    public static brainIndexMap = new Map<number, SynthesisBrain>()
-
-    // A list of all the fields spawned
-    public static fieldsSpawned: string[] = []
+    // Tracks how many joins have been made with unique controls
+    private _currentJointIndex = 1
 
     public constructor(mechanism: Mechanism, assemblyName: string) {
         super(mechanism)
@@ -60,7 +56,6 @@ class SynthesisBrain extends Brain {
             this.configureElevatorBehaviors()
         } else {
             this.configureField()
-            SynthesisBrain.fieldsSpawned.push(assemblyName)
         }
     }
 
diff --git a/fission/src/ui/modals/configuring/ChangeInputsModal.tsx b/fission/src/ui/modals/configuring/ChangeInputsModal.tsx
index 63507d8a97..8195f932a1 100644
--- a/fission/src/ui/modals/configuring/ChangeInputsModal.tsx
+++ b/fission/src/ui/modals/configuring/ChangeInputsModal.tsx
@@ -104,7 +104,6 @@ const ChangeInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const [modifierState, setModifierState] = useState<ModifierState>(EmptyModifierState)
 
     const [chosenGamepadAxis, setChosenGamepadAxis] = useState<number>(-1)
-    // const [chosenResetScheme, setChosenResetScheme] = useState<string>("WASD") TODO
     const [useButtons, setUseButtons] = useState<UseButtonsState>({})
 
     // If there is a robot spawned, set it as the selected robot
@@ -382,42 +381,6 @@ const ChangeInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                                         }}
                                     />
                                     <Label size={LabelSize.Medium}>Default Control Schemes</Label>
-                                    {/**
-                                            <Dropdown
-                                                label={""}
-                                                // Moves the selected option to the start of the array
-                                                options={InputSchemeManager.AVAILABLE_INPUT_SCHEMES.map(
-                                                    scheme => scheme.schemeName
-                                                )}
-                                                onSelect={value => {
-                                                    setChosenResetScheme(value)
-                                                }}
-                                            />
-                                            <Button
-                                                value={"Apply"}
-                                                onClick={() => {
-                                                    const scheme = InputSchemeManager.AVAILABLE_INPUT_SCHEMES.find(
-                                                        s => s.schemeName == chosenResetScheme
-                                                    )
-                                                    if (!selectedScheme || !scheme) return
-    
-                                                    scheme.inputs.forEach(newInput => {
-                                                        const currentInput = selectedScheme.inputs.find(
-                                                            i => i.inputName == newInput.inputName
-                                                        )
-    
-                                                        if (currentInput) {
-                                                            const inputIndex = selectedScheme.inputs.indexOf(currentInput)
-    
-                                                            selectedScheme.inputs[inputIndex] = newInput.getCopy()
-                                                        }
-                                                    })
-                                                    selectedScheme.usesGamepad = scheme.usesGamepad
-    
-                                                    setSelectedScheme(undefined)
-                                                }}
-                                            />
-                                        */}
                                     <Button
                                         value={"Reset all to Defaults"}
                                         onClick={() => {
diff --git a/fission/src/ui/modals/configuring/ResetAllInputsModal.tsx b/fission/src/ui/modals/configuring/ResetAllInputsModal.tsx
index bdc0cf5cfa..b058bd9d9c 100644
--- a/fission/src/ui/modals/configuring/ResetAllInputsModal.tsx
+++ b/fission/src/ui/modals/configuring/ResetAllInputsModal.tsx
@@ -14,7 +14,7 @@ const ResetAllInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
 
     return (
         <Modal
-            name="Reset all Inputs??"
+            name="Reset all Inputs?"
             icon={<GrFormClose />}
             modalId={modalId}
             onAccept={() => {
@@ -24,6 +24,7 @@ const ResetAllInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                 InputSchemeManager.resetDefaultSchemes()
                 PreferencesSystem.savePreferences()
 
+                // Remove all robot assemblies
                 const assemblies = [...World.SceneRenderer.sceneObjects.entries()]
                     .filter(x => {
                         const y =
@@ -36,46 +37,6 @@ const ResetAllInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                 assemblies.forEach(a => {
                     World.SceneRenderer.RemoveSceneObject(a)
                 })
-
-                // // Reset default schemes in scheme map
-                // InputSystem.brainIndexSchemeMap.forEach((scheme, brainIndex) => {
-                //     // If the scheme is in default, reset it to the default
-
-                //     const defaults = InputSchemeManager.defaultInputSchemes
-
-                //     defaults.forEach(d => {
-                //         if (d.schemeName == scheme.schemeName) {
-                //             InputSystem.brainIndexSchemeMap.set(brainIndex, d)
-                //         }
-                //         return
-                //     })
-
-                //     return
-                // })
-
-                // Regenerate blank schemes in scheme map and add them to preferences
-
-                // Save preferences
-
-                // let i = 0
-                // InputSystem.allInputs.forEach(currentScheme => {
-                //     const scheme = InputSchemeManager.availableInputSchemes[i]
-                //     if (!currentScheme || !scheme) return
-
-                //     scheme.inputs.forEach(newInput => {
-                //         const currentInput = currentScheme.inputs.find(i => i.inputName == newInput.inputName)
-
-                //         if (currentInput) {
-                //             const inputIndex = currentScheme.inputs.indexOf(currentInput)
-
-                //             currentScheme.inputs[inputIndex] = newInput.getCopy()
-                //         }
-                //     })
-                //     currentScheme.usesGamepad = scheme.usesGamepad
-
-                //     i++
-                // })
-                // openModal("change-inputs")
             }}
             onCancel={() => {
                 openModal("change-inputs")
diff --git a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
index 66f2d8d9a8..8b3d8c85bb 100644
--- a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
+++ b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
@@ -1,23 +1,41 @@
 import Panel, { PanelPropsImpl } from "@/components/Panel"
 import DefaultInputs from "@/systems/input/DefaultInputs"
-import InputSchemeManager from "@/systems/input/InputSchemeManager"
+import InputSchemeManager, { InputScheme } from "@/systems/input/InputSchemeManager"
 import InputSystem from "@/systems/input/InputSystem"
+import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
 import Button from "@/ui/components/Button"
+import Label, { LabelSize } from "@/ui/components/Label"
 import { useModalControlContext } from "@/ui/ModalContext"
 import { usePanelControlContext } from "@/ui/PanelContext"
-import { Box } from "@mui/material"
-import { useEffect } from "react"
+import { Box, Divider, styled } from "@mui/material"
+import { useEffect, useReducer } from "react"
 import { AiOutlinePlus } from "react-icons/ai"
+import { IoCheckmark, IoTrashBin } from "react-icons/io5"
 
 const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
     const { closePanel } = usePanelControlContext()
     const { openModal } = useModalControlContext()
+
+    const [_, update] = useReducer(x => !x, false)
+
     const AddIcon = <AiOutlinePlus size={"1.25rem"} />
+    const DeleteIcon = <IoTrashBin size={"1.25rem"} />
+    const SelectIcon = <IoCheckmark size={"1.25rem"} />
+
+    const LabelStyled = styled(Label)({
+        fontWeight: 700,
+        margin: "0pt",
+    })
+
+    const DividerStyled = styled(Divider)({
+        borderColor: "white",
+    })
 
     useEffect(() => {
         closePanel("import-mirabuf")
 
+        /** If the panel is closed before a scheme is selected, defaults to the top of the list */
         return () => {
             const brainIndex = SynthesisBrain.brainIndexMap.size - 1
 
@@ -41,24 +59,82 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
             acceptEnabled={false}
             cancelEnabled={false}
         >
-            <div className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[20vh] bg-background-secondary rounded-md p-2">
-                {/** A scroll view with buttons to select default and custom input schemes */}
+            {/** A scroll view with buttons to select default and custom input schemes */}
+            <div className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[45vh] bg-background-secondary rounded-md p-2">
+                {/** The label and divider at the top of the scroll view */}
+                <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
+                    {`${InputSchemeManager.availableInputSchemes.length} Input Schemes`}
+                </LabelStyled>
+                <DividerStyled />
+
+                {/** Creates list items with buttons */}
                 {InputSchemeManager.availableInputSchemes.map(scheme => {
                     return (
-                        <Button
-                            value={`${scheme.schemeName} | ${scheme.customized ? "Custom" : scheme.descriptiveName}`}
-                            onClick={() => {
-                                //if (!scheme.customized) scheme = InputSchemeManager.copyScheme(scheme)
-
-                                InputSystem.brainIndexSchemeMap.set(SynthesisBrain.brainIndexMap.size - 1, scheme)
-                                closePanel(panelId)
-                            }}
+                        <Box
+                            component={"div"}
+                            display={"flex"}
+                            justifyContent={"space-between"}
+                            alignItems={"center"}
+                            gap={"1rem"}
                             key={scheme.schemeName}
-                        />
+                        >
+                            <LabelStyled>
+                                {`${scheme.schemeName} | ${scheme.customized ? "Custom" : scheme.descriptiveName}`}
+                            </LabelStyled>
+                            <Box
+                                component={"div"}
+                                display={"flex"}
+                                flexDirection={"row-reverse"}
+                                gap={"0.25rem"}
+                                justifyContent={"center"}
+                                alignItems={"center"}
+                            >
+                                {/** Select button */}
+                                <Button
+                                    value={SelectIcon}
+                                    onClick={() => {
+                                        InputSystem.brainIndexSchemeMap.set(
+                                            SynthesisBrain.brainIndexMap.size - 1,
+                                            scheme
+                                        )
+                                        closePanel(panelId)
+                                    }}
+                                    colorOverrideClass="bg-accept-button hover:brightness-90"
+                                />
+                                {/** Delete button (only if the scheme is customized) */}
+                                {scheme.customized ? (
+                                    <>
+                                        <Button
+                                            value={DeleteIcon}
+                                            onClick={() => {
+                                                // Fetch current custom schemes
+                                                InputSchemeManager.saveSchemes()
+                                                InputSchemeManager.resetDefaultSchemes()
+                                                const schemes =
+                                                    PreferencesSystem.getGlobalPreference<InputScheme[]>("InputSchemes")
+
+                                                // Find and remove this input scheme
+                                                const index = schemes.indexOf(scheme)
+                                                schemes.splice(index, 1)
+
+                                                // Save to preferences
+                                                PreferencesSystem.setGlobalPreference("InputSchemes", schemes)
+                                                PreferencesSystem.savePreferences()
+
+                                                update()
+                                            }}
+                                            colorOverrideClass="bg-cancel-button hover:brightness-90"
+                                        />
+                                    </>
+                                ) : (
+                                    <></>
+                                )}
+                            </Box>
+                        </Box>
                     )
                 })}
             </div>
-            {/** A button to create a new scheme with a randomly assigned name */}
+            {/** New scheme with a randomly assigned name button */}
             <Button
                 value={AddIcon}
                 onClick={() => {
@@ -71,6 +147,8 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                     InputSystem.selectedScheme = scheme
                     InputSchemeManager.addCustomScheme(scheme)
 
+                    InputSchemeManager.saveSchemes()
+
                     openModal("change-inputs")
                 }}
             />

From 3f5daa210757dabd3850ff69100ea4afc9c57711 Mon Sep 17 00:00:00 2001
From: LucaHaverty <lucahaverty@gmail.com>
Date: Mon, 22 Jul 2024 11:34:21 -0700
Subject: [PATCH 9/9] PR suggestions for named inputs

---
 fission/src/Synthesis.tsx                     |  4 ++
 .../src/systems/input/InputSchemeManager.ts   |  5 +--
 .../modals/configuring/ChangeInputsModal.tsx  | 34 +++++++++++----
 .../theme-editor/AssignNewSchemeModal.tsx     | 41 +++++++++++++++++++
 .../theme-editor/NewInputSchemeModal.tsx      | 37 +++++++++++++++++
 .../configuring/ChooseInputSchemePanel.tsx    | 33 +++++++++------
 6 files changed, 131 insertions(+), 23 deletions(-)
 create mode 100644 fission/src/ui/modals/configuring/theme-editor/AssignNewSchemeModal.tsx
 create mode 100644 fission/src/ui/modals/configuring/theme-editor/NewInputSchemeModal.tsx

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index 8c6a595ff6..b406cec7d9 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -61,6 +61,8 @@ import SceneOverlay from "./ui/components/SceneOverlay.tsx"
 import WPILibWSWorker from "@/systems/simulation/wpilib_brain/WPILibWSWorker.ts?worker"
 import WSViewPanel from "./ui/panels/WSViewPanel.tsx"
 import Lazy from "./util/Lazy.ts"
+import NewInputSchemeModal from "./ui/modals/configuring/theme-editor/NewInputSchemeModal.tsx"
+import AssignNewSchemeModal from "./ui/modals/configuring/theme-editor/AssignNewSchemeModal.tsx"
 
 const worker = new Lazy<Worker>(() => new WPILibWSWorker())
 
@@ -181,6 +183,8 @@ const initialModals = [
     <ChooseSingleplayerModeModal key="singleplayer-mode" modalId="singleplayer-mode" />,
     <PracticeSettingsModal key="practice-settings" modalId="practice-settings" />,
     <DeleteThemeModal key="delete-theme" modalId="delete-theme" />,
+    <NewInputSchemeModal key="new-scheme" modalId="new-scheme" />,
+    <AssignNewSchemeModal key="assign-new-scheme" modalId="assign-new-scheme" />,
     <DeleteAllThemesModal key="delete-all-themes" modalId="delete-all-themes" />,
     <NewThemeModal key="new-theme" modalId="new-theme" />,
     <RCCreateDeviceModal key="create-device" modalId="create-device" />,
diff --git a/fission/src/systems/input/InputSchemeManager.ts b/fission/src/systems/input/InputSchemeManager.ts
index 768ceb6e6f..76c433c962 100644
--- a/fission/src/systems/input/InputSchemeManager.ts
+++ b/fission/src/systems/input/InputSchemeManager.ts
@@ -20,10 +20,9 @@ class InputSchemeManager {
         if (this._customSchemes) return this._customSchemes
 
         // Load schemes from preferences and parse into objects
-        const inputSchemes = PreferencesSystem.getGlobalPreference<InputScheme[]>("InputSchemes")
-        inputSchemes.forEach(scheme => this.parseScheme(scheme))
+        this._customSchemes = PreferencesSystem.getGlobalPreference<InputScheme[]>("InputSchemes")
+        this._customSchemes.forEach(scheme => this.parseScheme(scheme))
 
-        this._customSchemes = inputSchemes
         return this._customSchemes
     }
 
diff --git a/fission/src/ui/modals/configuring/ChangeInputsModal.tsx b/fission/src/ui/modals/configuring/ChangeInputsModal.tsx
index 8195f932a1..7a45282847 100644
--- a/fission/src/ui/modals/configuring/ChangeInputsModal.tsx
+++ b/fission/src/ui/modals/configuring/ChangeInputsModal.tsx
@@ -10,6 +10,14 @@ import Checkbox from "@/ui/components/Checkbox"
 import InputSchemeManager, { InputScheme } from "@/systems/input/InputSchemeManager"
 import Button from "@/ui/components/Button"
 import { useModalControlContext } from "@/ui/ModalContext"
+import { Box, Divider, styled } from "@mui/material"
+import { AiOutlinePlus } from "react-icons/ai"
+
+const AddIcon = <AiOutlinePlus size={"1.25rem"} />
+
+const DividerStyled = styled(Divider)({
+    borderColor: "white",
+})
 
 // capitalize first letter
 const transformKeyName = (keyCode: string, keyModifiers: ModifierState) => {
@@ -370,6 +378,13 @@ const ChangeInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                                     InputSystem.selectedScheme = schemeData
                                 }}
                             />
+                            <Button
+                                value={AddIcon}
+                                onClick={() => {
+                                    openModal("new-scheme")
+                                }}
+                            />
+
                             {selectedScheme ? (
                                 <>
                                     <Checkbox
@@ -380,13 +395,18 @@ const ChangeInputsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                                             if (selectedScheme) selectedScheme.usesGamepad = val
                                         }}
                                     />
-                                    <Label size={LabelSize.Medium}>Default Control Schemes</Label>
-                                    <Button
-                                        value={"Reset all to Defaults"}
-                                        onClick={() => {
-                                            openModal("reset-inputs")
-                                        }}
-                                    />
+                                    <Box height={10} />
+                                    <DividerStyled />
+                                    <Box height={15}></Box>
+
+                                    <Box display="flex" justifyContent="center" alignItems="center">
+                                        <Button
+                                            value={"Reset all to Defaults"}
+                                            onClick={() => {
+                                                openModal("reset-inputs")
+                                            }}
+                                        />
+                                    </Box>
                                 </>
                             ) : (
                                 <Label>No robot selected.</Label>
diff --git a/fission/src/ui/modals/configuring/theme-editor/AssignNewSchemeModal.tsx b/fission/src/ui/modals/configuring/theme-editor/AssignNewSchemeModal.tsx
new file mode 100644
index 0000000000..b0e11b76df
--- /dev/null
+++ b/fission/src/ui/modals/configuring/theme-editor/AssignNewSchemeModal.tsx
@@ -0,0 +1,41 @@
+import React, { useState } from "react"
+import Input from "@/components/Input"
+import Modal, { ModalPropsImpl } from "@/components/Modal"
+import { GrFormClose } from "react-icons/gr"
+import { useModalControlContext } from "@/ui/ModalContext"
+import InputSchemeManager from "@/systems/input/InputSchemeManager"
+import InputSystem from "@/systems/input/InputSystem"
+import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
+
+const AssignNewSchemeModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
+    const { openModal } = useModalControlContext()
+
+    const [name, setName] = useState<string>(InputSchemeManager.randomAvailableName)
+
+    return (
+        <Modal
+            name="New Input Scheme"
+            icon={<GrFormClose />}
+            modalId={modalId}
+            onAccept={() => {
+                const scheme = InputSystem.brainIndexSchemeMap.get(SynthesisBrain.brainIndexMap.size - 1)
+
+                if (scheme == undefined) return
+
+                scheme.schemeName = name
+
+                InputSystem.selectedScheme = scheme
+                InputSchemeManager.addCustomScheme(scheme)
+
+                InputSchemeManager.saveSchemes()
+
+                openModal("change-inputs")
+            }}
+            cancelEnabled={false}
+        >
+            <Input label="Name" placeholder="" defaultValue={name} onInput={setName} />
+        </Modal>
+    )
+}
+
+export default AssignNewSchemeModal
diff --git a/fission/src/ui/modals/configuring/theme-editor/NewInputSchemeModal.tsx b/fission/src/ui/modals/configuring/theme-editor/NewInputSchemeModal.tsx
new file mode 100644
index 0000000000..a9d773631f
--- /dev/null
+++ b/fission/src/ui/modals/configuring/theme-editor/NewInputSchemeModal.tsx
@@ -0,0 +1,37 @@
+import React, { useState } from "react"
+import Input from "@/components/Input"
+import Modal, { ModalPropsImpl } from "@/components/Modal"
+import { GrFormClose } from "react-icons/gr"
+import { useModalControlContext } from "@/ui/ModalContext"
+import InputSchemeManager from "@/systems/input/InputSchemeManager"
+import InputSystem from "@/systems/input/InputSystem"
+import DefaultInputs from "@/systems/input/DefaultInputs"
+
+const NewInputSchemeModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
+    const { openModal } = useModalControlContext()
+
+    const [name, setName] = useState<string>(InputSchemeManager.randomAvailableName)
+
+    return (
+        <Modal
+            name="New Input Scheme"
+            icon={<GrFormClose />}
+            modalId={modalId}
+            onAccept={() => {
+                const scheme = DefaultInputs.newBlankScheme
+                scheme.schemeName = name
+
+                InputSchemeManager.addCustomScheme(scheme)
+                InputSchemeManager.saveSchemes()
+
+                InputSystem.selectedScheme = scheme
+                openModal("change-inputs")
+            }}
+            cancelEnabled={false}
+        >
+            <Input label="Name" placeholder="" defaultValue={name} onInput={setName} />
+        </Modal>
+    )
+}
+
+export default NewInputSchemeModal
diff --git a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
index 8b3d8c85bb..c6cfdceab3 100644
--- a/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
+++ b/fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx
@@ -11,7 +11,7 @@ import { usePanelControlContext } from "@/ui/PanelContext"
 import { Box, Divider, styled } from "@mui/material"
 import { useEffect, useReducer } from "react"
 import { AiOutlinePlus } from "react-icons/ai"
-import { IoCheckmark, IoTrashBin } from "react-icons/io5"
+import { IoCheckmark, IoPencil, IoTrashBin } from "react-icons/io5"
 
 const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
     const { closePanel } = usePanelControlContext()
@@ -22,6 +22,7 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
     const AddIcon = <AiOutlinePlus size={"1.25rem"} />
     const DeleteIcon = <IoTrashBin size={"1.25rem"} />
     const SelectIcon = <IoCheckmark size={"1.25rem"} />
+    const EditIcon = <IoPencil size={"1.25rem"} />
 
     const LabelStyled = styled(Label)({
         fontWeight: 700,
@@ -101,6 +102,19 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                                     }}
                                     colorOverrideClass="bg-accept-button hover:brightness-90"
                                 />
+                                {/** Edit button - same as select but opens the inputs modal */}
+                                <Button
+                                    value={EditIcon}
+                                    onClick={() => {
+                                        InputSystem.brainIndexSchemeMap.set(
+                                            SynthesisBrain.brainIndexMap.size - 1,
+                                            scheme
+                                        )
+                                        InputSystem.selectedScheme = scheme
+                                        openModal("change-inputs")
+                                    }}
+                                    colorOverrideClass="bg-accept-button hover:brightness-90"
+                                />
                                 {/** Delete button (only if the scheme is customized) */}
                                 {scheme.customized ? (
                                     <>
@@ -138,18 +152,11 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
             <Button
                 value={AddIcon}
                 onClick={() => {
-                    // Assign a blank input scheme a random name
-                    const name = InputSchemeManager.randomAvailableName
-                    const scheme = DefaultInputs.newBlankScheme
-                    scheme.schemeName = name
-
-                    InputSystem.brainIndexSchemeMap.set(SynthesisBrain.brainIndexMap.size - 1, scheme)
-                    InputSystem.selectedScheme = scheme
-                    InputSchemeManager.addCustomScheme(scheme)
-
-                    InputSchemeManager.saveSchemes()
-
-                    openModal("change-inputs")
+                    InputSystem.brainIndexSchemeMap.set(
+                        SynthesisBrain.brainIndexMap.size - 1,
+                        DefaultInputs.newBlankScheme
+                    )
+                    openModal("assign-new-scheme")
                 }}
             />
             <Box height="12px"></Box>