Merge pull request #108 from strykeforce/2024-measures

2024 measures

Author: mwitcpalek

build.gradle

@@ -6,12 +6,12 @@ plugins {
     id "maven-publish"
     id "org.jetbrains.kotlin.jvm" version "1.7.21"
     id "com.google.devtools.ksp" version "1.7.21-1.0.8"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1"
+    id "edu.wpi.first.GradleRIO" version "2024.2.1"
     id "com.diffplug.spotless" version "6.12.1"
 }
 
 group = "org.strykeforce"
-version = "24.0.0"
+version = "24.0.1"
 
 sourceCompatibility = JavaVersion.VERSION_17
 targetCompatibility = JavaVersion.VERSION_17

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

@@ -4,9 +4,11 @@ package org.strykeforce.telemetry
 
 import com.ctre.phoenix.motorcontrol.can.BaseTalon
 import com.ctre.phoenix.motorcontrol.can.TalonSRX
+import com.ctre.phoenix6.hardware.CANcoder
 import com.ctre.phoenix6.hardware.TalonFX
 import mu.KotlinLogging
 import org.strykeforce.telemetry.measurable.BaseTalonMeasurable
+import org.strykeforce.telemetry.measurable.CancoderMeasureable
 import org.strykeforce.telemetry.measurable.Measurable
 import org.strykeforce.telemetry.measurable.TalonSRXMeasurable
 import org.strykeforce.telemetry.talon.TalonFXFaultMeasureable
@@ -142,6 +144,16 @@ class TelemetryService(private val telemetryControllerFactory: Function<Inventor
         register(TalonFXMeasureable(talon))
     }
 
+    /**
+     * Convenience method to register faults for a [com.ctre.phoenix6.hardware.CANcoder] for telemetry sending
+     *
+     * @param cancoder the CANcoder to register for data collection
+     * @throws IllegalStateException if TelemetryService is running
+     */
+    fun register(cancoder: CANcoder) {
+        register(CancoderMeasureable(cancoder))
+    }
+
     /**
      * Get an unmodifiable view of the registered items.
      *

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

@@ -0,0 +1,33 @@
+package org.strykeforce.telemetry.measurable
+
+import com.ctre.phoenix6.hardware.CANcoder
+import org.strykeforce.telemetry.talon.HAS_RESET_OCCURRED
+import org.strykeforce.telemetry.talon.IS_PRO_LIC
+
+internal  const val MAGNET_HEALTH = "MAGNET_HEALTH"
+//internal const val POSITION = "POSITION"
+internal const val POSITION_SINCE_BOOT = "POSITION_SINCE_BOOT"
+internal const val ABS_POSITION = "ABS_POSITION"
+internal const val SUPPLY_VOLTAGE = "SUPPLY_VOLTAGE"
+internal const val UNFILTERED_VELOCITY = "UNFILTERED_VELOCITY"
+internal const val VELOCITY = "VELOCITY"
+
+
+class CancoderMeasureable @JvmOverloads constructor(
+    private val cancoder: CANcoder,
+    override val description: String = "Cancoder ${cancoder.deviceID}"
+): Measurable {
+
+    override val deviceId = cancoder.deviceID
+    override val measures = setOf(
+        Measure(MAGNET_HEALTH, "Magnet Health") {cancoder.magnetHealth.valueAsDouble},
+        Measure(POSITION, "Position") {cancoder.position.valueAsDouble},
+        Measure(POSITION_SINCE_BOOT, "Position Since Boot") {cancoder.positionSinceBoot.valueAsDouble},
+        Measure(ABS_POSITION, "Absolute Position") {cancoder.absolutePosition.valueAsDouble},
+        Measure(SUPPLY_VOLTAGE, "Supply Voltage") {cancoder.supplyVoltage.valueAsDouble},
+        Measure(UNFILTERED_VELOCITY, "Unfiltered Velocity") {cancoder.unfilteredVelocity.valueAsDouble},
+        Measure(VELOCITY, "Velocity") {cancoder.velocity.valueAsDouble},
+        Measure(IS_PRO_LIC, "Is Pro Licensed") {cancoder.isProLicensed.valueAsDouble},
+        Measure(HAS_RESET_OCCURRED, "Has Reset Occurred") {cancoder.resetOccurredChecker.asBoolean.toDouble()}
+    )
+}

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

@@ -4,31 +4,41 @@ import com.ctre.phoenix6.hardware.TalonFX
 import org.strykeforce.telemetry.measurable.Measurable
 import org.strykeforce.telemetry.measurable.Measure
 import org.strykeforce.telemetry.measurable.toDouble
+import kotlin.concurrent.timerTask
 
 //Device Status
 internal const val ACCELERATION = "ACCELERATION"
+internal const val ACCEL_SCALE = "ACCEL_SCALE"
 internal const val BRIDGE_OUTPUT = "BRIDGE_OUTPUT"
 internal const val DEVICE_TEMP = "DEVICE_TEMP"
 internal const val DIFF_AVG_POS = "DIFF_AVG_POS"
+internal const val DIFF_AVG_POS_SCALE = "DIFF_AVG_POS_SCALE"
 internal const val DIFF_AVG_VEL = "DIFF_AVG_VEL"
+internal const val DIFF_AVG_VEL_SCALE = "DIFF_AVG_VEL_SCALE"
 internal const val DIFF_DIFF_POS = "DIFF_DIFF_POS"
+internal const val DIFF_DIFF_POS_SCALE = "DIFF_DIFF_POS_SCALE"
 internal const val DIFF_DIFF_VEL = "DIFF_DIFF_VEL"
+internal const val DIFF_DIFF_VEL_SCALE = "DIFF_DIFF_VEL_SCALE"
 internal const val DUTY_CYCLE = "DUTY_CYCLE"
 internal const val FWD_LIM = "FWD_LIM"
 internal const val IS_PRO_LIC = "IS_PRO_LIC"
 internal const val IS_MM_RUNNING = "IS_MM_RUNNING"
 internal const val MOTOR_VOLTAGE = "MOTOR_VOLTAGE"
 internal const val POSITION = "POSITION"
+internal const val POS_SCALE = "POS_SCALE"
 internal const val PROCESSOR_TEMP = "PROCESSOR_TEMP"
 internal const val HAS_RESET_OCCURRED = "HAS_RESET_OCCURRED"
 internal const val REV_LIM = "REV_LIM"
 internal const val ROTOR_POS = "ROTOR_POS"
+internal const val ROTOR_POS_SCALE = "ROTOR_POS_SCALE"
 internal const val ROTOR_VEL = "ROTOR_VEL"
+internal const val ROTOR_VEL_SCALE = "ROTOR_VEL_SCALE"
 internal const val STATOR_CURRENT = "STATOR_CURRENT"
 internal const val SUPPLY_CURRENT = "SUPPLY_CURRENT"
 internal const val SUPPLY_VOLTAGE = "SUPPLY_VOLTAGE"
 internal const val TORQUE_CURRENT = "TORQUE_CURRENT"
 internal const val VELOCITY = "VELOCITY"
+internal const val VEL_SCALE = "VEL_SCALE"
 
 //PID
 internal const val CLOSED_LOOP_D_OUTPUT = "CLOSED_LOOP_D_OUTPUT"
@@ -83,32 +93,41 @@ class TalonFXMeasureable @JvmOverloads constructor(
     override val description: String = "TalonFX ${talonFX.deviceID}"
 ): Measurable {
 
-
+    val scaleFactor = 1000.0;
     override val deviceId = talonFX.deviceID
     override val measures = setOf(
         Measure(ACCELERATION, "Acceleration") {talonFX.acceleration.valueAsDouble},
+        Measure(ACCEL_SCALE, "Accel. scaled") {talonFX.acceleration.valueAsDouble  * scaleFactor},
         Measure(BRIDGE_OUTPUT, "Bridge Output") {talonFX.bridgeOutput.valueAsDouble},
         Measure(DEVICE_TEMP, "Device Temperature C"){talonFX.deviceTemp.valueAsDouble},
         Measure(DIFF_AVG_POS, "Differential Avg Position") {talonFX.differentialAveragePosition.valueAsDouble},
+        Measure(DIFF_AVG_POS_SCALE,"Diff Avg Pos scaled"){talonFX.differentialAveragePosition.valueAsDouble * scaleFactor},
         Measure(DIFF_AVG_VEL, "Differential Avg Velocity") {talonFX.differentialAverageVelocity.valueAsDouble},
+        Measure(DIFF_AVG_VEL_SCALE, "Diff Avg Vel scaled"){talonFX.differentialAverageVelocity.valueAsDouble * scaleFactor},
         Measure(DIFF_DIFF_POS, "Differential Difference Position"){talonFX.differentialDifferencePosition.valueAsDouble},
+        Measure(DIFF_DIFF_POS_SCALE, "Diff Diff Pos scaled"){talonFX.differentialDifferencePosition.valueAsDouble * scaleFactor},
         Measure(DIFF_DIFF_VEL, "Differential Difference Velocity"){talonFX.differentialDifferenceVelocity.valueAsDouble},
+        Measure(DIFF_DIFF_VEL_SCALE, "Diff Diff Vel scale"){talonFX.differentialDifferenceVelocity.valueAsDouble * scaleFactor},
         Measure(DUTY_CYCLE, "Applied Duty Cycle"){talonFX.dutyCycle.value},
         Measure(FWD_LIM, "Forward Limit Switch Closed"){talonFX.forwardLimit.valueAsDouble},
         Measure(IS_PRO_LIC, "Is Pro Licensed"){talonFX.isProLicensed.valueAsDouble},
         Measure(IS_MM_RUNNING, "Motion Magic Running"){talonFX.motionMagicIsRunning.valueAsDouble},
         Measure(MOTOR_VOLTAGE, "Motor Voltage"){talonFX.motorVoltage.valueAsDouble},
         Measure(POSITION, "Position"){talonFX.position.valueAsDouble},
+        Measure(POS_SCALE, "Pos. scaled"){talonFX.position.valueAsDouble * scaleFactor},
         Measure(PROCESSOR_TEMP, "Processor Temp"){talonFX.processorTemp.valueAsDouble},
         Measure(HAS_RESET_OCCURRED, "Has Reset Occurred"){talonFX.hasResetOccurred().toDouble()},
         Measure(REV_LIM, "Reverse Limit Switch Closed"){talonFX.reverseLimit.valueAsDouble},
         Measure(ROTOR_POS, "Rotor Position"){talonFX.rotorPosition.valueAsDouble},
+        Measure(ROTOR_POS_SCALE, "Rotor Pos scaled"){ talonFX.rotorPosition.valueAsDouble * scaleFactor},
         Measure(ROTOR_VEL, "Rotor Velocity"){talonFX.rotorVelocity.valueAsDouble},
+        Measure(ROTOR_VEL_SCALE, "Rotor Vel scaled"){talonFX.rotorVelocity.valueAsDouble * scaleFactor},
         Measure(STATOR_CURRENT, "Stator Current"){talonFX.statorCurrent.valueAsDouble},
         Measure(SUPPLY_CURRENT, "Supply Current"){talonFX.supplyCurrent.valueAsDouble},
         Measure(SUPPLY_VOLTAGE, "Supply Voltage"){talonFX.supplyVoltage.valueAsDouble},
         Measure(TORQUE_CURRENT, "Torque Current"){talonFX.torqueCurrent.valueAsDouble},
         Measure(VELOCITY, "Velocity"){talonFX.velocity.valueAsDouble},
+        Measure(VEL_SCALE, "Vel. scaled"){talonFX.velocity.valueAsDouble * scaleFactor},
         Measure(IS_INVERTED, "Is Inverted"){talonFX.inverted.toDouble()},
 
         Measure(CLOSED_LOOP_D_OUTPUT, "Closed Loop Derivative Output"){talonFX.closedLoopDerivativeOutput.valueAsDouble},