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[command] Add PIDSubsystem PIDController as child (#2784)

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Previously, the PIDSubsystem's PID Controller would show as ungrouped in
LiveWindow.

Fixes wpilibsuite/RobotBuilder#260
This commit is contained in:
sciencewhiz
2020-10-19 20:04:18 -07:00
committed by GitHub
parent 07ac5370d8
commit 7fc48b75dd
2 changed files with 2 additions and 0 deletions
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1
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
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@@ -30,6 +30,7 @@ public abstract class PIDSubsystem extends SubsystemBase {
public PIDSubsystem(PIDController controller, double initialPosition) {
setSetpoint(initialPosition);
m_controller = requireNonNullParam(controller, "controller", "PIDSubsystem");
addChild("PID Controller", m_controller);
}
/**

1
wpilibNewCommands/src/main/native/cpp/frc2/command/PIDSubsystem.cpp
View File

@@ -12,6 +12,7 @@ using namespace frc2;
PIDSubsystem::PIDSubsystem(PIDController controller, double initialPosition)
: m_controller{controller} {
SetSetpoint(initialPosition);
AddChild("PID Controller", &m_controller);
}
void PIDSubsystem::Periodic() {