# Glass Widgets

Specialized widgets are available for certain types that exist in robot code. These include objects that are manually sent over NetworkTables such as ``SendableChooser`` instances.

.. note:: Widget support in Glass is still in its infancy -- therefore, there are only a handful of widgets available. This list will grow as development work continues.

.. note:: A widget can be renamed by right-clicking on its header and specifying a new name.

## Hardware Widgets

Widgets for specific hardware (such as motor controllers) are usually available via LiveWindow. These can be accessed by selecting the :guilabel:`NetworkTables` menu option, clicking on :guilabel:`LiveWindow` and choosing the desired widget.

.. image:: images/livewindow.png

The list of hardware (sent over LiveWindow automatically) that has widgets is below:

- ``DigitalInput``
- ``DigitalOutput``
- ``SpeedController``
- ``Gyro``

Here is an example of the widget for gyroscopes:

.. image:: images/gyro.png
   :alt: Gyro widget with both text and dial visualizations of the current gyro angle. Current Gyro Angle in degrees is -60.9704.

## Sendable Chooser Widget

The :guilabel:`Sendable Chooser` widget represents a ``SendableChooser`` instance from robot code. It is often used to select autonomous modes. Like other dashboards, your ``SendableChooser`` instance simply needs to be sent using a NetworkTables API. The simplest is to use something like ``SmartDashboard``:

.. tab-set-code::
   ```java
   SmartDashboard.putData("Auto Selector", m_selector);
   ```

   ```c++
   wpi::SmartDashboard::PutData("Auto Selector", &m_selector);
   ```

   ```python
   from wpilib import SmartDashboard
   SmartDashboard.putData("Auto Selector", selector)
   ```

The :guilabel:`Sendable Chooser` widget will appear in the :guilabel:`NetworkTables` menu and underneath the main table name that the instance was sent over. From the example above, the main table name would be :guilabel:`SmartDashboard`.

.. image:: images/sendable-chooser.png

## PID Controller Widget

The :guilabel:`PID Controller` widget allows you to quickly tune PID values for a certain controller. A ``PIDController`` instance must be sent using a NetworkTables API. The simplest is to use something like ``SmartDashboard``:

.. tab-set-code::
   ```java
   SmartDashboard.putData("Elevator PID Controller", m_elevatorPIDController);
   ```

   ```c++
   wpi::SmartDashboard::PutData("Elevator PID Controller", &m_elevatorPIDController);
   ```

   ```python
   from wpilib import SmartDashboard
   SmartDashboard.putData("Elevator PID Controller", elevatorPIDController)
   ```

This allows you to quickly tune P, I, and D values for various setpoints.

.. image:: images/pid.png
   :alt: PID widget for the Elevator PID Controller. P = 3.0, I = 0.001, D = 0.050, Setpoint = 0.0.

## FMSInfo Widget

The :guilabel:`FMSInfo` widget is created by default when Glass connects to a robot. This widget displays basic information about the robot's enabled state, whether a Driver Station is connected, whether an :term:`FMS` is connected, the game-specific data, etc. It can be viewed by selecting the :guilabel:`NetworkTables` menu item and clicking on :guilabel:`FMSInfo`.

.. image:: images/fms-info.png