added swerve drive shuffleboard values to the UI class

ticket: #11
Team-OKC-Robotics · Jan 4, 2023 · 2088ee6 · 2088ee6
1 parent b6f1e0b
commit 2088ee6
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Showing 2 changed files with 65 additions and 1 deletion.
diff --git a/src/main/cpp/ui/UserInterface.cpp b/src/main/cpp/ui/UserInterface.cpp
@@ -73,4 +73,37 @@ namespace ShooterUI {
     nt::GenericEntry &nt_low_goal = nt_tab.Add("Low Goal Preset", 0).GetEntry();
     nt::GenericEntry &nt_far_shot = nt_tab.Add("Far Shot Preset", 0).GetEntry();
 
-} // namespace ShooterUI
+} // namespace ShooterUI
+
+namespace SwerveDriveUI {
+    // Get the tab
+    frc::ShuffleboardTab &nt_tab = frc::Shuffleboard::GetTab("SwerveDrive");
+
+    // Add all the defaults
+    // Write mode
+    nt::GenericEntry &nt_write_mode =
+        nt_tab.Add("Write Mode", false).GetEntry();
+
+    // Encoder
+    nt::GenericEntry &nt_left_ticks = nt_tab.Add("left avg dist", 0).GetEntry();
+    nt::GenericEntry &nt_right_ticks = nt_tab.Add("right avg dist", 0).GetEntry();
+    nt::GenericEntry &nt_total_ticks = nt_tab.Add("avg dist", 0).GetEntry();
+
+    // Distance PID
+    nt::GenericEntry &nt_dist_kp = nt_tab.Add("Distance kP", 0).GetEntry();
+    nt::GenericEntry &nt_dist_ki = nt_tab.Add("Distance kI", 0).GetEntry();
+    nt::GenericEntry &nt_dist_kd = nt_tab.Add("Distance kD", 0).GetEntry();
+
+    // Steer PID
+    nt::GenericEntry &nt_steer_kp = nt_tab.Add("Steer kP", 0).GetEntry();
+    nt::GenericEntry &nt_steer_ki = nt_tab.Add("Steer kI", 0).GetEntry();
+    nt::GenericEntry &nt_steer_kd = nt_tab.Add("Steer kD", 0).GetEntry();
+
+    // Gyro
+    nt::GenericEntry &nt_heading = nt_tab.Add("Heading", 0).GetEntry();
+    nt::GenericEntry &nt_reset_gyro =
+        nt_tab.Add("Reset Gyro", false).GetEntry();
+
+    // Save parameters button
+    nt::GenericEntry &nt_save = nt_tab.Add("Save", false).GetEntry();
+} // namespace SwerveDriveUI
diff --git a/src/main/include/ui/UserInterface.h b/src/main/include/ui/UserInterface.h
@@ -72,3 +72,34 @@ namespace ShooterUI {
     extern nt::GenericEntry &nt_low_goal;
     extern nt::GenericEntry &nt_far_shot;
 } // namespace ShooterUI
+
+namespace SwerveDriveUI {
+    // Get the tab
+    extern frc::ShuffleboardTab &nt_tab;
+
+    // Add all the defaults
+    // Write mode
+    extern nt::GenericEntry &nt_write_mode;
+
+    // Encoder
+    extern nt::GenericEntry &nt_left_avg;
+    extern nt::GenericEntry &nt_right_avg;
+    extern nt::GenericEntry &nt_avg_dist;
+
+    // Distance PID
+    extern nt::GenericEntry &nt_dist_kp;
+    extern nt::GenericEntry &nt_dist_ki;
+    extern nt::GenericEntry &nt_dist_kd;
+
+    // Steer PID
+    extern nt::GenericEntry &nt_steer_kp;
+    extern nt::GenericEntry &nt_steer_ki;
+    extern nt::GenericEntry &nt_steer_kd;
+
+    // Gyro
+    extern nt::GenericEntry &nt_heading;
+    extern nt::GenericEntry &nt_reset_gyro;
+
+    // Save drivetrain parameters
+    extern nt::GenericEntry &nt_save;
+} // namespace SwerveDriveUI