From 7fc48b75ddbcf6866c8c813c2f82178cf712616c Mon Sep 17 00:00:00 2001
From: sciencewhiz <sciencewhiz@users.noreply.github.com>
Date: Mon, 19 Oct 2020 20:04:18 -0700
Subject: [PATCH] [command] Add PIDSubsystem PIDController as child (#2784)

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

Fixes wpilibsuite/RobotBuilder#260
---
 .../main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java   | 1 +
 .../src/main/native/cpp/frc2/command/PIDSubsystem.cpp            | 1 +
 2 files changed, 2 insertions(+)

diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
index 9badc34336..4cc578d190 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
@@ -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);
   }
 
   /**
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/PIDSubsystem.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/PIDSubsystem.cpp
index 39eec29c58..f7d988dd41 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/PIDSubsystem.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/PIDSubsystem.cpp
@@ -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() {