added buttons for tuning angle and pose

frc2053 · Oct 29, 2024 · 5efb0bf · 5efb0bf
1 parent 9e6efc9
commit 5efb0bf
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Showing 2 changed files with 7 additions and 5 deletions.
diff --git a/src/main/cpp/RobotContainer.cpp b/src/main/cpp/RobotContainer.cpp
@@ -81,17 +81,16 @@ void RobotContainer::ConfigureBindings() {
   // driverController.Start().Get(); }));
   // driverController.POVUp().OnTrue(swerveSubsystem.TuneDrivePID([this] { return
   // driverController.Start().Get(); }));
-  // driverController.POVLeft().OnTrue(swerveSubsystem.TuneAnglePID([this] { return
-  // driverController.Start().Get(); }));
-  // driverController.POVRight().OnTrue(swerveSubsystem.TunePosePID([this] { return
-  // driverController.Start().Get(); }));
 
   tuningTable->PutBoolean("WheelRadiusFwd", false);
   tuningTable->PutBoolean("WheelRadiusRev", false);
-
+  tuningTable->PutBoolean("AnglePIDTuning", false);
+  tuningTable->PutBoolean("PosePIDTuning", false);
 
   wheelRadFwdBtn.WhileTrue(swerveSubsystem.WheelRadius(frc2::sysid::Direction::kForward));
   wheelRadRevBtn.WhileTrue(swerveSubsystem.WheelRadius(frc2::sysid::Direction::kReverse));
+  anglePIDBtn.OnTrue(swerveSubsystem.TuneAnglePID([this] { return !anglePIDBtn.Get(); }));
+  posePIDBtn.OnTrue(swerveSubsystem.TunePosePID([this] { return !posePIDBtn.Get(); }));
 
   operatorController.A().WhileTrue(shooterSubsystem.RunShooter(
       [] { return consts::shooter::PRESET_SPEEDS::AMP; }));

diff --git a/src/main/include/RobotContainer.h b/src/main/include/RobotContainer.h
@@ -43,6 +43,9 @@ class RobotContainer {
 
   frc2::NetworkButton wheelRadFwdBtn{tuningTable, "WheelRadiusFwd"};
   frc2::NetworkButton wheelRadRevBtn{tuningTable, "WheelRadiusRev"};
+  frc2::NetworkButton anglePIDBtn{tuningTable, "AnglePIDTuning"};
+  frc2::NetworkButton posePIDBtn{tuningTable, "PosePIDTuning"};
+
 
   frc2::CommandPtr RumbleDriver(std::function<units::second_t()> timeToRumble);
   frc2::CommandPtr RumbleOperator(