From 02525a112b122f0025c651a5f7ad8ab2a4223ff3 Mon Sep 17 00:00:00 2001
From: 5690Progammers <5690programmers@gmail.com>
Date: Sat, 15 Feb 2025 13:58:41 -0600
Subject: [PATCH 1/2] Add logging and update brake mode with tuner

---
 lib/cpp/subzero/motor/PidMotorController.cpp   | 2 ++
 lib/include/subzero/motor/PidMotorController.h | 8 +++++---
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/lib/cpp/subzero/motor/PidMotorController.cpp b/lib/cpp/subzero/motor/PidMotorController.cpp
index fd2bfa8..e7d6788 100644
--- a/lib/cpp/subzero/motor/PidMotorController.cpp
+++ b/lib/cpp/subzero/motor/PidMotorController.cpp
@@ -182,6 +182,8 @@ void PidMotorController<TMotor, TController, TRelativeEncoder, TAbsoluteEncoder,
                       rev::spark::SparkBase::ResetMode::kNoResetSafeParameters,
                       rev::spark::SparkBase::PersistMode::kPersistParameters);
     m_isInitialized = true;
+
+    std::cout << "Updated PID settings." << std::endl;
   }
 
   m_settings = settings;
diff --git a/lib/include/subzero/motor/PidMotorController.h b/lib/include/subzero/motor/PidMotorController.h
index 19313f1..8d5e3ea 100644
--- a/lib/include/subzero/motor/PidMotorController.h
+++ b/lib/include/subzero/motor/PidMotorController.h
@@ -185,6 +185,7 @@ class PidMotorControllerTuner {
       PidMotorController<TMotor, TController, TRelativeEncoder,
                          TAbsoluteEncoder, TPidConfig> &controller)
       : m_controller{controller} {
+
     frc::SmartDashboard::PutNumber(m_controller.m_name + " P Gain",
                                    m_controller.GetPidSettings().p);
     frc::SmartDashboard::PutNumber(m_controller.m_name + " I Gain",
@@ -199,8 +200,9 @@ class PidMotorControllerTuner {
 
   /**
    * @brief Call this within the Periodic method of the encapsulating subsystem
-   *
+   * Note: You must enable submit button to work in Elastic
    */
+
   void UpdateFromShuffleboard() {
     double tP = frc::SmartDashboard::GetNumber(m_controller.m_name + " P Gain",
                                                m_controller.GetPidSettings().p);
@@ -215,12 +217,12 @@ class PidMotorControllerTuner {
                                        m_controller.GetPidSettings().ff);
 
     m_controller.UpdatePidSettings(
-        {.p = tP, .i = tI, .d = tD, .iZone = tIZone, .ff = tFeedForward});
+        {.p = tP, .i = tI, .d = tD, .iZone = tIZone, .ff = tFeedForward, .isIdleModeBrake = m_controller.GetPidSettings().isIdleModeBrake});
   }
 
 private:
   PidMotorController<TMotor, TController, TRelativeEncoder, TAbsoluteEncoder,
-                     rev::spark::SparkFlexConfig> &m_controller;
+                     TPidConfig> &m_controller;         
 };
 
 class RevPidMotorController

From 9aab48896b0afb2a51fa36af8635e9764472e7d4 Mon Sep 17 00:00:00 2001
From: Lint Action <lint-action@samuelmeuli.com>
Date: Sat, 15 Feb 2025 20:00:14 +0000
Subject: [PATCH 2/2] Fix code style issues with clang_format

---
 lib/include/subzero/motor/PidMotorController.h | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/lib/include/subzero/motor/PidMotorController.h b/lib/include/subzero/motor/PidMotorController.h
index 8d5e3ea..5a1f495 100644
--- a/lib/include/subzero/motor/PidMotorController.h
+++ b/lib/include/subzero/motor/PidMotorController.h
@@ -217,12 +217,17 @@ class PidMotorControllerTuner {
                                        m_controller.GetPidSettings().ff);
 
     m_controller.UpdatePidSettings(
-        {.p = tP, .i = tI, .d = tD, .iZone = tIZone, .ff = tFeedForward, .isIdleModeBrake = m_controller.GetPidSettings().isIdleModeBrake});
+        {.p = tP,
+         .i = tI,
+         .d = tD,
+         .iZone = tIZone,
+         .ff = tFeedForward,
+         .isIdleModeBrake = m_controller.GetPidSettings().isIdleModeBrake});
   }
 
 private:
   PidMotorController<TMotor, TController, TRelativeEncoder, TAbsoluteEncoder,
-                     TPidConfig> &m_controller;         
+                     TPidConfig> &m_controller;
 };
 
 class RevPidMotorController