Merge pull request #30 from sidpagariya/motion-magic-vals

Added Motion Magic Grapher Values.

Author: jhh

core/src/main/java/org/strykeforce/thirdcoast/telemetry/grapher/Measure.java

@@ -22,7 +22,11 @@ public enum Measure {
   SPEED("Speed"),
   FEEDBACK("Feedback"),
   VALUE("Value"),
-  ANALOG_RAW("Analog Raw");
+  ANALOG_RAW("Analog Raw"),
+  MOMAGIC_ACCL("Motion Magic Acceleration"),
+  MOMAGIC_A_TRAJ_POS("Motion Magic Trajectory Point Target Position"),
+  MOMAGIC_A_TRAJ_VEL("Motion Magic Trajectory Point Target Velocity"),
+  MOMAGIC_CRUISE_VEL("Motion Magic Cruise Velocity");
 
 //  private final static Map<Item.Type, Set<Measure>> byType = new HashMap<>();
 //

core/src/main/java/org/strykeforce/thirdcoast/telemetry/item/TalonItem.java

@@ -33,7 +33,11 @@ public class TalonItem extends AbstractItem {
       Measure.REVERSE_SOFT_LIMIT_OK,
       Measure.POSITION,
       Measure.SPEED,
-      Measure.FEEDBACK
+      Measure.FEEDBACK,
+      Measure.MOMAGIC_ACCL,
+      Measure.MOMAGIC_A_TRAJ_POS,
+      Measure.MOMAGIC_A_TRAJ_VEL,
+      Measure.MOMAGIC_CRUISE_VEL
   ));
   // TODO: getMotionProfileStatus
   private final static String NA = "not available in API";
@@ -100,6 +104,14 @@ public DoubleSupplier measurementFor(final Measure measure) {
         return talon::getPosition;
       case ANALOG_RAW:
         return talon::getAnalogInRaw;
+      case MOMAGIC_ACCL:
+        return talon::getMotionMagicAcceleration;
+      case MOMAGIC_A_TRAJ_POS:
+        return talon::getMotionMagicActTrajPosition;
+      case MOMAGIC_A_TRAJ_VEL:
+        return talon::getMotionMagicActTrajVelocity;
+      case MOMAGIC_CRUISE_VEL:
+        return talon::getMotionMagicCruiseVelocity;
       default:
         throw new AssertionError(measure);
     }