SendablePIDTuner.java

package com.team3925.utils;

import edu.wpi.first.wpilibj.Sendable;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

public class SendablePIDTuner implements Sendable {

	String name = "PIDTuner";
	String subsystem;
	PIDTunable pid_values;

	public SendablePIDTuner(Subsystem subsystem, PIDTunable pid_values) {
		this.subsystem = subsystem.getName() + "Tuner";
		this.pid_values = pid_values;
	}

	@Override
	public String getName() {
		return name;
	}

	@Override
	public void setName(String name) {
		this.name = name;

	}

	@Override
	public String getSubsystem() {
		return subsystem;
	}

	@Override
	public void setSubsystem(String subsystem) {
		this.subsystem = subsystem;
	}

	@Override
	public void initSendable(SendableBuilder builder) {
		builder.setSmartDashboardType("PIDController");
		builder.addDoubleProperty("p", pid_values::getkP, pid_values::setkP);
		builder.addDoubleProperty("i", pid_values::getkI, pid_values::setkI);
		builder.addDoubleProperty("d", pid_values::getkD, pid_values::setkD);
		builder.addDoubleProperty("f", pid_values::getkF, pid_values::setkF);
	}

	public void updateDashboard() {
		// TODO: should this be name or subsystem? The subsystem will allow us to
		// differentiate it.
		SmartDashboard.putData(subsystem, this);
	}
}