From 29208aed2752bf8b0d42c117917bf0faf60a64a8 Mon Sep 17 00:00:00 2001
From: yamamara <yamamrtyu@gmail.com>
Date: Thu, 15 Aug 2024 00:31:30 -0400
Subject: [PATCH] Added "Set Zero" button to "Commands" Shuffleboard tab

---
 simgui.json                                              | 1 +
 src/main/kotlin/com/team4099/robot2023/RobotContainer.kt | 9 +++++++++
 2 files changed, 10 insertions(+)

diff --git a/simgui.json b/simgui.json
index c73084f6..ab9a410a 100644
--- a/simgui.json
+++ b/simgui.json
@@ -14,6 +14,7 @@
   "NTProvider": {
     "types": {
       "/FMSInfo": "FMSInfo",
+      "/Shuffleboard/Commands/Set Zero": "Command",
       "/Shuffleboard/Pre-match/Alliance": "String Chooser",
       "/Shuffleboard/Pre-match/Mode": "String Chooser",
       "/SmartDashboard/AllianceColor": "String Chooser",
diff --git a/src/main/kotlin/com/team4099/robot2023/RobotContainer.kt b/src/main/kotlin/com/team4099/robot2023/RobotContainer.kt
index 401147b0..2ecdf05a 100644
--- a/src/main/kotlin/com/team4099/robot2023/RobotContainer.kt
+++ b/src/main/kotlin/com/team4099/robot2023/RobotContainer.kt
@@ -43,6 +43,8 @@ import com.team4099.robot2023.util.driver.Jessika
 import edu.wpi.first.wpilibj.AnalogInput
 import edu.wpi.first.wpilibj.DriverStation
 import edu.wpi.first.wpilibj.RobotBase
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard
 import edu.wpi.first.wpilibj2.command.Command
 import edu.wpi.first.wpilibj2.command.Commands.runOnce
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup
@@ -160,6 +162,13 @@ object RobotContainer {
     )
     vision.drivetrainOdometry = { drivetrain.odomTRobot }
     limelight.poseSupplier = { drivetrain.odomTRobot }
+
+    // TODO: Find a better way to implement this into Shuffleboard
+    Shuffleboard.getTab("Commands")
+      .add("Set Zero", SetZeroCommand(drivetrain) /* Command currently does nothing */)
+      .withSize(1, 1)
+      .withPosition(0, 0)
+      .withWidget(BuiltInWidgets.kCommand)
   }
 
   fun mapDefaultCommands() {