From ffb590bfcc138bd4bb61e7c797f5a887980d2128 Mon Sep 17 00:00:00 2001
From: Prateek Machiraju <prateek.machiraju@gmail.com>
Date: Sat, 27 Mar 2021 00:20:54 -0400
Subject: [PATCH] [wpilib] Fix Compressor sendable properties (#3269)

---
 wpilibc/src/main/native/cpp/Compressor.cpp           | 12 ++++--------
 .../main/java/edu/wpi/first/wpilibj/Compressor.java  | 11 ++---------
 2 files changed, 6 insertions(+), 17 deletions(-)

diff --git a/wpilibc/src/main/native/cpp/Compressor.cpp b/wpilibc/src/main/native/cpp/Compressor.cpp
index 88e5eb6415..8f0582b3a9 100644
--- a/wpilibc/src/main/native/cpp/Compressor.cpp
+++ b/wpilibc/src/main/native/cpp/Compressor.cpp
@@ -236,14 +236,10 @@ int Compressor::GetModule() const {
 void Compressor::InitSendable(SendableBuilder& builder) {
   builder.SetSmartDashboardType("Compressor");
   builder.AddBooleanProperty(
-      "Enabled", [=]() { return Enabled(); },
-      [=](bool value) {
-        if (value) {
-          Start();
-        } else {
-          Stop();
-        }
-      });
+      "Closed Loop Control", [=]() { return GetClosedLoopControl(); },
+      [=](bool value) { SetClosedLoopControl(value); });
+  builder.AddBooleanProperty(
+      "Enabled", [=] { return Enabled(); }, nullptr);
   builder.AddBooleanProperty(
       "Pressure switch", [=]() { return GetPressureSwitchValue(); }, nullptr);
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Compressor.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Compressor.java
index 77901fcfb1..93f0977223 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Compressor.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Compressor.java
@@ -205,15 +205,8 @@ public class Compressor implements Sendable, AutoCloseable {
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("Compressor");
     builder.addBooleanProperty(
-        "Enabled",
-        this::enabled,
-        value -> {
-          if (value) {
-            start();
-          } else {
-            stop();
-          }
-        });
+        "Closed Loop Control", this::getClosedLoopControl, this::setClosedLoopControl);
+    builder.addBooleanProperty("Enabled", this::enabled, null);
     builder.addBooleanProperty("Pressure switch", this::getPressureSwitchValue, null);
   }
 }