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mwitcpalekmwitcpalek
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Merge pull request #112 from strykeforce/2024-fixes
Final 2024 fixes
2 parents 3eb3f4b + c08f9ea commit 4312924

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4 files changed

+174
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‎build.gradle‎

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@@ -11,7 +11,7 @@ plugins {
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}
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group = "org.strykeforce"
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version = "24.0.5"
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version = "24.0.6"
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sourceCompatibility = JavaVersion.VERSION_17
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targetCompatibility = JavaVersion.VERSION_17

‎src/main/java/org/strykeforce/gyro/SF_PIGEON2.java‎

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package org.strykeforce.gyro;
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import com.ctre.phoenix6.configs.Pigeon2Configuration;
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import com.ctre.phoenix6.configs.Pigeon2Configurator;
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import com.ctre.phoenix6.hardware.Pigeon2;
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import edu.wpi.first.math.geometry.Rotation2d;
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import org.strykeforce.telemetry.TelemetryService;
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public class SF_PIGEON2 implements Gyro {
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private Pigeon2 pigeon2;
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private Pigeon2Configurator configurator;
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public SF_PIGEON2(int deviceId) {
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pigeon2 = new Pigeon2(deviceId);
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configurator = pigeon2.getConfigurator();
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}
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public SF_PIGEON2(int deviceId, String canbus) {
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pigeon2 = new Pigeon2(deviceId, canbus);
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configurator = pigeon2.getConfigurator();
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}
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@Override
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public void reset() {
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pigeon2.reset();
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}
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@Override
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public double getAngle() {
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return pigeon2.getAngle();
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}
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@Override
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public double getRate() {
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return pigeon2.getRate();
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}
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@Override
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public Rotation2d getRotation2d() {
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return pigeon2.getRotation2d();
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}
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public Pigeon2 getPigeon2() {
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return pigeon2;
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}
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public void applyConfig(Pigeon2Configuration config) {
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configurator.apply(config);
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}
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public Double getRoll() {
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return pigeon2.getRoll().getValue();
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}
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public Double getPitch() {
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return pigeon2.getPitch().getValue();
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}
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public Double getYaw() {
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return pigeon2.getYaw().getValue();
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}
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public void registerWith(TelemetryService telemetryService) {
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telemetryService.register(pigeon2);
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}
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}

‎src/main/kotlin/org/strykeforce/telemetry/TelemetryService.kt‎

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@@ -5,12 +5,10 @@ package org.strykeforce.telemetry
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import com.ctre.phoenix.motorcontrol.can.BaseTalon
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import com.ctre.phoenix.motorcontrol.can.TalonSRX
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import com.ctre.phoenix6.hardware.CANcoder
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import com.ctre.phoenix6.hardware.Pigeon2
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import com.ctre.phoenix6.hardware.TalonFX
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import mu.KotlinLogging
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import org.strykeforce.telemetry.measurable.BaseTalonMeasurable
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import org.strykeforce.telemetry.measurable.CancoderMeasureable
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import org.strykeforce.telemetry.measurable.Measurable
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import org.strykeforce.telemetry.measurable.TalonSRXMeasurable
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import org.strykeforce.telemetry.measurable.*
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import org.strykeforce.telemetry.talon.TalonFXFaultMeasureable
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import org.strykeforce.telemetry.talon.TalonFXMeasureable
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import org.strykeforce.thirdcoast.talon.LegacyTalonFXMeasurable
@@ -145,7 +143,7 @@ class TelemetryService(private val telemetryControllerFactory: Function<Inventor
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}
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/**
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* Convenience method to register faults for a [com.ctre.phoenix6.hardware.CANcoder] for telemetry sending
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* Convenience method to register a [com.ctre.phoenix6.hardware.CANcoder] for telemetry sending
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*
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* @param cancoder the CANcoder to register for data collection
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* @throws IllegalStateException if TelemetryService is running
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register(CancoderMeasureable(cancoder))
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}
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/**
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* Convenience method to register a [com.ctre.phoenix6.hardware.Pigeon2] for telemetry sending
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*
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* @param pigeon2 the Pigeon2 to register for data collection
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* @throws IllegalStateException if TelemetryService is running
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*/
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fun register(pigeon2: Pigeon2) {
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register(Pigeon2Measureable(pigeon2))
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}
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/**
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* Get an unmodifiable view of the registered items.
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*

‎src/main/kotlin/org/strykeforce/telemetry/measurable/Pigeon2Measureable.kt‎

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package org.strykeforce.telemetry.measurable
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import com.ctre.phoenix6.hardware.Pigeon2
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import jdk.jfr.Description
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//internal const val ROLL = "ROLL"
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//internal const val PITCH = "PITCH"
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//internal const val YAW = "YAW"
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internal const val QUATW = "QUAT_W"
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internal const val QUATX = "QUAT_X"
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internal const val QUATY = "QUAT_Y"
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internal const val QUATZ = "QUAT_Z"
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internal const val GRAV_X = "GRAV_X"
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internal const val GRAV_Y = "GRAV_Y"
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internal const val GRAV_Z = "GRAV_Z"
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internal const val TEMP = "TEMP"
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internal const val NO_MOT_EN = "NO_MOT_EN"
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internal const val NO_MOT_CNT = "NO_MOT_CNT"
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internal const val UP_TIME = "UP_TIME"
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internal const val ACCUM_X = "ACCUM_X"
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internal const val ACCUM_Y = "ACCUM_Y"
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internal const val ACCUM_Z = "ACCUM_Z"
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internal const val ANG_VEL_X = "ANG_VEL_X"
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internal const val ANG_VEL_Y = "ANG_VEL_Y"
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internal const val ANG_VEL_Z = "ANG_VEL_Z"
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internal const val ACCEL_X = "ACCEL_X"
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internal const val ACCEL_Y = "ACCEL_Y"
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internal const val ACCEL_Z = "ACCEL_Z"
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internal const val SUPPLY_V = "SUPPLY_V"
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internal const val ANG_VEL_WORLD_X = "ANG_VEL_WORLD_X"
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internal const val ANG_VEL_WORLD_Y = "ANG_VEL_WORLD_Y"
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internal const val ANG_VEL_WORLD_Z = "ANG_VEL_WORLD_Z"
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internal const val MAG_X = "MAG_X"
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internal const val MAG_Y = "MAG_Y"
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internal const val MAG_Z = "MAG_Z"
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internal const val IS_PRO = "IS_PRO"
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internal const val RATE = "RATE"
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//internal const val ANGLE = "ANGLE"
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internal const val ROTATION2D = "ROTATION2D"
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internal const val ROTATION3D = "ROTATION3D"
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class Pigeon2Measureable @JvmOverloads constructor(
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private val pigeon2: Pigeon2,
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override val description: String = "Pigeon2 ${pigeon2.deviceID}"
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): Measurable {
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override val deviceId = pigeon2.deviceID
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override val measures = setOf(
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Measure(ROLL, "Roll") {pigeon2.roll.valueAsDouble},
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Measure(PITCH, "Pitch") {pigeon2.pitch.valueAsDouble},
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Measure(YAW, "Yaw") {pigeon2.yaw.valueAsDouble},
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Measure(QUATW, "Quat W") {pigeon2.quatW.valueAsDouble},
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Measure(QUATX, "Quat X") {pigeon2.quatX.valueAsDouble},
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Measure(QUATY, "Quat Y") {pigeon2.quatY.valueAsDouble},
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Measure(QUATZ, "Quat Z") {pigeon2.quatZ.valueAsDouble},
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Measure(GRAV_X, "Gravity X") {pigeon2.gravityVectorX.valueAsDouble},
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Measure(GRAV_Y, "Gravity Y") { pigeon2.gravityVectorY.valueAsDouble},
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Measure(GRAV_Z, "Gravity Z") { pigeon2.gravityVectorZ.valueAsDouble},
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Measure(TEMP, "Temperature") { pigeon2.temperature.valueAsDouble},
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Measure(NO_MOT_EN, "No Motion Enabled") { pigeon2.noMotionEnabled.valueAsDouble},
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Measure(NO_MOT_CNT, "No Motion Count") { pigeon2.noMotionCount.valueAsDouble},
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Measure(UP_TIME, "Up Time") { pigeon2.upTime.valueAsDouble},
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Measure(ACCUM_X, "Accumulator X") { pigeon2.accumGyroX.valueAsDouble},
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Measure(ACCUM_Y, "Accumulator Y") {pigeon2.accumGyroY.valueAsDouble},
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Measure(ACCUM_Z, "Accumulator Z") { pigeon2.accumGyroZ.valueAsDouble},
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Measure(ANG_VEL_X, "Angular Vel X") {pigeon2.angularVelocityXDevice.valueAsDouble},
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Measure(ANG_VEL_Y, "Angular Vel Y") {pigeon2.angularVelocityYDevice.valueAsDouble},
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Measure(ANG_VEL_Z, "Angular Vel Z") {pigeon2.angularVelocityZDevice.valueAsDouble},
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Measure(ACCEL_X, "Acceleration X") {pigeon2.accelerationX.valueAsDouble},
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Measure(ACCEL_Y, "Acceleration Y") {pigeon2.accelerationY.valueAsDouble},
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Measure(ACCEL_Z, "Acceleration Z") {pigeon2.accelerationZ.valueAsDouble},
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Measure(SUPPLY_V, "Supply Voltage") {pigeon2.supplyVoltage.valueAsDouble},
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Measure(ANG_VEL_WORLD_X, "Angular Vel World X") {pigeon2.angularVelocityXWorld.valueAsDouble},
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Measure(ANG_VEL_WORLD_Y, "Angular Vel World Y") {pigeon2.angularVelocityYWorld.valueAsDouble},
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Measure(ANG_VEL_WORLD_Z, "Angular Vel World Z") {pigeon2.angularVelocityZWorld.valueAsDouble},
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Measure(MAG_X, "Mag Field X") {pigeon2.magneticFieldX.valueAsDouble},
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Measure(MAG_Y, "Mag Field Y") {pigeon2.magneticFieldY.valueAsDouble},
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Measure(MAG_Z, "Mag Field Z") {pigeon2.magneticFieldZ.valueAsDouble},
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Measure(IS_PRO, "Is Pro Lic") {pigeon2.isProLicensed.valueAsDouble},
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Measure(RATE, "Rate") {pigeon2.rate},
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Measure(ANGLE, "Angle") {pigeon2.angle},
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Measure(ROTATION2D, "Rotation2d Deg") {pigeon2.rotation2d.degrees}
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)
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override fun equals(other: Any?): Boolean {
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if(this === other) return true
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if(javaClass != other?.javaClass) return false
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other as Pigeon2
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if(deviceId != other.deviceID) return false
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return true
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}
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override fun hashCode() = deviceId
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}

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