From 92631be1828208b90674fc0876682e6fe5d6d296 Mon Sep 17 00:00:00 2001
From: DriverStation3 <58869582+jbko6@users.noreply.github.com>
Date: Sat, 3 Feb 2024 14:17:31 -0800
Subject: [PATCH] add spark pid controller widget

---
 .../team2412/robot/util/SparkPIDWidget.java   | 26 +++++++++++++++++++
 1 file changed, 26 insertions(+)
 create mode 100644 src/main/java/frc/team2412/robot/util/SparkPIDWidget.java

diff --git a/src/main/java/frc/team2412/robot/util/SparkPIDWidget.java b/src/main/java/frc/team2412/robot/util/SparkPIDWidget.java
new file mode 100644
index 00000000..322d84f3
--- /dev/null
+++ b/src/main/java/frc/team2412/robot/util/SparkPIDWidget.java
@@ -0,0 +1,26 @@
+package frc.team2412.robot.util;
+
+import com.revrobotics.SparkPIDController;
+import edu.wpi.first.networktables.NTSendable;
+import edu.wpi.first.networktables.NTSendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
+
+public class SparkPIDWidget implements NTSendable {
+
+	public final SparkPIDController controller;
+
+	public SparkPIDWidget(SparkPIDController controller) {
+		this.controller = controller;
+
+		SendableRegistry.add(this, "Spark PID Controller");
+	}
+
+	@Override
+	public void initSendable(NTSendableBuilder builder) {
+		builder.setSmartDashboardType("PIDController");
+
+		builder.addDoubleProperty("p", controller::getP, controller::setP);
+		builder.addDoubleProperty("i", controller::getI, controller::setI);
+		builder.addDoubleProperty("d", controller::getD, controller::setD);
+	}
+}