Implement Registrable for MeasurableSubsystem

Author: jhh

src/main/java/org/strykeforce/swerve/SwerveModule.java

@@ -59,5 +59,4 @@ default void setDesiredState(SwerveModuleState desiredState) {
    * Loads the current azimuth absolute encoder reference position and sets selected sensor encoder.
    */
   void loadAndSetAzimuthZeroReference();
-
 }

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

@@ -1,8 +1,37 @@
 package org.strykeforce.telemetry.measurable
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase
+import org.strykeforce.telemetry.Registrable
+import org.strykeforce.telemetry.TelemetryService
 
-abstract class MeasurableSubsystem() : SubsystemBase(), Measurable {
+/**
+ * A [Subsystem] that can send telemetry to the Third Coast grapher.
+ *
+ * To implement, override the [Measurable.measures] method, for example:
+ *
+ * <code><pre>
+ * @Override
+ * public Set<Measure> getMeasures() {
+ *     return Set.of(
+ *         new Measure("Gyro Rotation2d (deg)", () -> swerveDrive.getHeading().getDegrees()),
+ *         new Measure("Gyro Angle (deg)", swerveDrive::getGyroAngle),
+ *         new Measure("Odometry X", () -> swerveDrive.getPoseMeters().getX()),
+ *         new Measure("Odometry Y", () -> swerveDrive.getPoseMeters().getY()),
+ *     );
+ * }</pre></code>
+ *
+ * The robot will call [registerWith] during initialization, default behavior is to register this
+ * subsystem with the [TelemetryService]. If you wish to additionally register internal classes with
+ * the telemetry service, override the [registerWith] method, for example:
+ *
+ * <code><pre>
+ * @Override
+ * public void registerWith(TelemetryService: telemetryService) {
+ *     super.registerWith(telemetryService);
+ *     telemetryService.register(talon);
+ * }</pre></code>
+ */
+abstract class MeasurableSubsystem() : SubsystemBase(), Measurable, Registrable {
 
     override val description = name
 
@@ -16,4 +45,6 @@ abstract class MeasurableSubsystem() : SubsystemBase(), Measurable {
         val result = type.compareTo(other.type)
         return if (result != 0) result else deviceId.compareTo(other.deviceId)
     }
+
+    override fun registerWith(telemetryService: TelemetryService) = telemetryService.register(this)
 }