add sendables to LiveWindow

Author: CoolSpy3

src/main/java/org/carlmontrobotics/lib199/SparkVelocityPIDController.java

@@ -7,6 +7,7 @@
 
 import edu.wpi.first.util.sendable.Sendable;
 import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 
 public class SparkVelocityPIDController implements Sendable {
 
@@ -32,6 +33,8 @@ public SparkVelocityPIDController(String name, CANSparkMax spark, double default
         this.kV = kV;
 
         pidController.setReference(targetSpeed, ControlType.kVelocity, 0, calculateFF(targetSpeed));
+
+        SendableRegistry.addLW(this, "SparkVelocityPIDController", spark.getDeviceId());
     }
 
     public RelativeEncoder getEncoder() {

src/main/java/org/carlmontrobotics/lib199/swerve/SwerveModule.java

@@ -16,6 +16,7 @@
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.util.sendable.Sendable;
 import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
@@ -113,14 +114,16 @@ public SwerveModule(SwerveConfig config, ModuleType type, CANSparkMax drive, CAN
 
         this.rollDegSupplier = rollDegSupplier;
         this.pitchDegSupplier = pitchDegSupplier;
+
+        SendableRegistry.addLW(this, "SweverModule", type.toString());
     }
 
     private double prevTurnVelocity = 0;
     public void periodic() {
         double measuredAngleDegs = getModuleAngle();
         TrapezoidProfile.State goal = turnPIDController.getGoal();
         goal = new TrapezoidProfile.State(goal.position, goal.velocity);
-        
+
         double period = turnPIDController.getPeriod();
         double optimalTurnVelocityDps = Math.abs(MathUtil.inputModulus(goal.position-measuredAngleDegs, -180, 180))/period;
         setMaxTurnVelocity(Math.min(maxAchievableTurnVelocityDps, optimalTurnVelocityDps));