From 4e2cb68c5201225040280c360fa572c7a0d2df88 Mon Sep 17 00:00:00 2001 From: Bradley Bickford Date: Thu, 7 Mar 2024 17:16:51 -0500 Subject: [PATCH] Minor shuffleboard changes --- src/main/java/frc/robot/subsystems/Drivetrain.java | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java index febf440..d8aa174 100644 --- a/src/main/java/frc/robot/subsystems/Drivetrain.java +++ b/src/main/java/frc/robot/subsystems/Drivetrain.java @@ -16,6 +16,8 @@ import java.util.function.DoubleSupplier; import com.kauailabs.navx.frc.AHRS; import edu.wpi.first.wpilibj.SPI; +import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets; +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import frc.robot.constants.DrivetrainConstants; import frc.robot.utilities.MAXSwerveModule; import frc.robot.utilities.SwerveUtils; @@ -91,6 +93,18 @@ public class Drivetrain extends SubsystemBase { m_currentTranslationDir = 0.0; m_currentTranslationMag = 0.0; m_prevTime = WPIUtilJNI.now() * 1e-6; + + Shuffleboard.getTab("NavX") + .addDouble("YAW", m_gyro::getAngle) + .withPosition(0, 0) + .withSize(2, 1) + .withWidget(BuiltInWidgets.kTextView); + + Shuffleboard.getTab("NavX") + .addDouble("Offset", m_gyro::getAngleAdjustment) + .withPosition(0, 1) + .withSize(2, 1) + .withWidget(BuiltInWidgets.kTextView); } @Override