From 99b2b65148e7ea4b49d06f31bde5cd09b4f25119 Mon Sep 17 00:00:00 2001
From: Thad House <thadhouse1@gmail.com>
Date: Sat, 2 Jan 2016 22:29:33 -0800
Subject: [PATCH] Adds CANTalon to LiveWindow

CANTalon was not being added to the LiveWindow list.

Change-Id: I732bb65a899f11bb9b1ef0a7320f0f0cc78233f7
---
 wpilibc/Athena/src/CANTalon.cpp                             | 4 ++++
 wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANTalon.java | 4 ++++
 2 files changed, 8 insertions(+)

diff --git a/wpilibc/Athena/src/CANTalon.cpp b/wpilibc/Athena/src/CANTalon.cpp
index 22d9e308b8..8a54e27c45 100644
--- a/wpilibc/Athena/src/CANTalon.cpp
+++ b/wpilibc/Athena/src/CANTalon.cpp
@@ -8,6 +8,8 @@
 #include "WPIErrors.h"
 #include <unistd.h>  // usleep
 #include <sstream>
+#include "LiveWindow/LiveWindow.h"
+
 /**
  * Number of adc engineering units per 0 to 3.3V sweep.
  * This is necessary for scaling Analog Position in rotations/RPM.
@@ -35,6 +37,7 @@ CANTalon::CANTalon(int deviceNumber)
   ApplyControlMode(m_controlMode);
   m_impl->SetProfileSlotSelect(m_profile);
   m_isInverted = false;
+  LiveWindow::GetInstance()->AddActuator("CANTalon", m_deviceNumber, this);
 }
 /**
  * Constructor for the CANTalon device.
@@ -48,6 +51,7 @@ CANTalon::CANTalon(int deviceNumber, int controlPeriodMs)
       m_safetyHelper(new MotorSafetyHelper(this)) {
   ApplyControlMode(m_controlMode);
   m_impl->SetProfileSlotSelect(m_profile);
+  LiveWindow::GetInstance()->AddActuator("CANTalon", m_deviceNumber, this);
 }
 
 CANTalon::~CANTalon() {
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANTalon.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANTalon.java
index 50a69e9352..c7bd0932f8 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANTalon.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANTalon.java
@@ -5,6 +5,7 @@ import edu.wpi.first.wpilibj.communication.UsageReporting;
 import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
 import edu.wpi.first.wpilibj.tables.ITable;
 import edu.wpi.first.wpilibj.tables.ITableListener;
+import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 
 public class CANTalon implements MotorSafety, PIDOutput, PIDSource, CANSpeedController {
   private MotorSafetyHelper m_safetyHelper;
@@ -316,6 +317,7 @@ public class CANTalon implements MotorSafety, PIDOutput, PIDSource, CANSpeedCont
     m_feedbackDevice = FeedbackDevice.QuadEncoder;
     setProfile(m_profile);
     applyControlMode(TalonControlMode.PercentVbus);
+    LiveWindow.addActuator("CANTalon", m_deviceNumber, this);
   }
   /**
    * Constructor for the CANTalon device.
@@ -336,6 +338,7 @@ public class CANTalon implements MotorSafety, PIDOutput, PIDSource, CANSpeedCont
     m_feedbackDevice = FeedbackDevice.QuadEncoder;
     setProfile(m_profile);
     applyControlMode(TalonControlMode.PercentVbus);
+    LiveWindow.addActuator("CANTalon", m_deviceNumber, this);
   }
   /**
    * Constructor for the CANTalon device.
@@ -359,6 +362,7 @@ public class CANTalon implements MotorSafety, PIDOutput, PIDSource, CANSpeedCont
     m_feedbackDevice = FeedbackDevice.QuadEncoder;
     setProfile(m_profile);
     applyControlMode(TalonControlMode.PercentVbus);
+    LiveWindow.addActuator("CANTalon", m_deviceNumber, this);
   }
 
   @Override