From 9e6efc92c3e66af3e56af706a71e3c5be48671fc Mon Sep 17 00:00:00 2001
From: Drew Williams <williams.r.drew@gmail.com>
Date: Tue, 29 Oct 2024 12:36:29 -0400
Subject: [PATCH] added wheel radius buttons to dashboard

---
 src/main/cpp/RobotContainer.cpp   | 10 ++++++----
 src/main/include/RobotContainer.h |  6 ++++++
 2 files changed, 12 insertions(+), 4 deletions(-)

diff --git a/src/main/cpp/RobotContainer.cpp b/src/main/cpp/RobotContainer.cpp
index 920dd57..0aadf15 100644
--- a/src/main/cpp/RobotContainer.cpp
+++ b/src/main/cpp/RobotContainer.cpp
@@ -86,10 +86,12 @@ void RobotContainer::ConfigureBindings() {
   // driverController.POVRight().OnTrue(swerveSubsystem.TunePosePID([this] { return
   // driverController.Start().Get(); }));
 
-  // controller.Back().WhileTrue(
-  //     swerveSubsystem.WheelRadius(frc2::sysid::Direction::kReverse));
-  // controller.Start().WhileTrue(
-  //     swerveSubsystem.WheelRadius(frc2::sysid::Direction::kForward));
+  tuningTable->PutBoolean("WheelRadiusFwd", false);
+  tuningTable->PutBoolean("WheelRadiusRev", false);
+
+
+  wheelRadFwdBtn.WhileTrue(swerveSubsystem.WheelRadius(frc2::sysid::Direction::kForward));
+  wheelRadRevBtn.WhileTrue(swerveSubsystem.WheelRadius(frc2::sysid::Direction::kReverse));
 
   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
index 3162471..adb12ab 100644
--- a/src/main/include/RobotContainer.h
+++ b/src/main/include/RobotContainer.h
@@ -7,6 +7,7 @@
 #include <frc2/command/CommandPtr.h>
 //#include <str/CommandLogitechController.h>
 #include <frc2/command/button/CommandXboxController.h>
+#include <frc2/command/button/NetworkButton.h>
 
 #include <functional>
 
@@ -38,6 +39,11 @@ class RobotContainer {
   frc2::CommandXboxController operatorController{1};
   //frc2::CommandLogitechController sylaceController{2};
 
+  std::shared_ptr<nt::NetworkTable> tuningTable{nt::NetworkTableInstance::GetDefault().GetTable("Tuning")};
+
+  frc2::NetworkButton wheelRadFwdBtn{tuningTable, "WheelRadiusFwd"};
+  frc2::NetworkButton wheelRadRevBtn{tuningTable, "WheelRadiusRev"};
+
   frc2::CommandPtr RumbleDriver(std::function<units::second_t()> timeToRumble);
   frc2::CommandPtr RumbleOperator(
       std::function<units::second_t()> timeToRumble);