Update telemetry measures

Author: jhh

build.gradle

@@ -12,7 +12,7 @@ buildscript {
 
 subprojects {
     group = 'org.strykeforce.thirdcoast'
-    version = '18.7.3'
+    version = '18.7.4'
 
     apply plugin: 'java-library'
     apply plugin: 'idea'

telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/grapher/Measure.kt

@@ -2,67 +2,44 @@ package org.strykeforce.thirdcoast.telemetry.grapher
 
 /** Available telemetry measurement types.  */
 enum class Measure constructor(val description: String) {
-    UNKNOWN("Unknown Measurement"),
-    CLOSED_LOOP_TARGET("Closed-loop Setpoint"),
 
     // BaseMotorController
-    OUTPUT_CURRENT("Output Current"),
-    OUTPUT_VOLTAGE("Output Voltage"),
+    BASE_ID("Base ID"),
+    BUS_VOLTAGE("Bus Voltage"),
+    CLOSED_LOOP_ERROR("Closed Loop Error (PID 0)"),
+    CLOSED_LOOP_TARGET("Closed-loop Setpoint (PID 0)"),
+    CONTROL_MODE("Control Mode"),
+    DEVICE_ID("Device ID"),
+    ERROR_DERIVATIVE("Error Derivative (PID 0)"),
+    FIRMWARE_VERSION("Firmware Version"),
+    INTEGRAL_ACCUMULATOR("Integral Accumulator (PID 0)"),
     OUTPUT_PERCENT("Output Percentage"),
-    SELECTED_SENSOR_POSITION("Selected Sensor Position"),
-    SELECTED_SENSOR_VELOCITY("Selected Sensor Velocity"),
+    OUTPUT_VOLTAGE("Output Voltage"),
+    OUTPUT_CURRENT("Output Current"),
+    SELECTED_SENSOR_POSITION("Selected Sensor Position (PID 0)"),
+    SELECTED_SENSOR_VELOCITY("Selected Sensor Velocity (PID 0)"),
+    ACTIVE_TRAJECTORY_HEADING("Active Trajectory Heading"),
     ACTIVE_TRAJECTORY_POSITION("Active Trajectory Position"),
     ACTIVE_TRAJECTORY_VELOCITY("Active Trajectory Velocity"),
-    //  ACTIVE_TRAJECTORY_HEADING("Active Trajectory Heading"),
-    CLOSED_LOOP_ERROR("Closed Loop Error"),
-    BUS_VOLTAGE("Bus Voltage"),
-    ERROR_DERIVATIVE("Error Derivative"),
-    INTEGRAL_ACCUMULATOR("Integral Accumulator"),
-    // TODO: add motion profile
 
     // TalonSRX SensorCollection
-    ANALOG_IN("Analog Input"),
-    ANALOG_RAW("Analog Raw Input"),
-    ANALOG_POSITION("Analog Position"),
-    ANALOG_VELOCITY("Analog Velocity"),
-    QUAD_POSITION("Quadrature Position"),
-    QUAD_VELOCITY("Quadrature Velocity"),
-    QUAD_A_PIN("Quadrature A State"),
-    QUAD_B_PIN("Quadrature B State"),
-    QUAD_IDX_PIN("Quadrature Index State"),
+    ANALOG_IN("Analog Position Input"),
+    ANALOG_IN_RAW("Analog Raw Input"),
+    ANALOG_IN_VELOCITY("Analog Velocity Input"),
+    QUAD_A_PIN("Quad A Pin State"),
+    QUAD_B_PIN("Quad B Pin State"),
+    QUAD_IDX_PIN("Quad Index Pin State"),
     PULSE_WIDTH_POSITION("Pulse Width Position"),
-    PULSE_WIDTH_VELOCITY("Pulse Width Velocity"),
     PULSE_WIDTH_RISE_TO_FALL("PWM Pulse Width"),
     PULSE_WIDTH_RISE_TO_RISE("PWM Period"),
+    PULSE_WIDTH_VELOCITY("Pulse Width Velocity"),
+    QUAD_POSITION("Quadrature Position"),
+    QUAD_VELOCITY("Quadrature Velocity"),
     FORWARD_LIMIT_SWITCH_CLOSED("Forward Limit Switch Closed"),
     REVERSE_LIMIT_SWITCH_CLOSED("Reverse Limit Switch Closed"),
     //  FORWARD_SOFT_LIMIT("Forward Soft Limit"),
     //  REVERSE_SOFT_LIMIT("Reverse Soft Limit"),
 
-    ANGLE("Angle"),
-    POSITION("Position"),
-    //  SPEED("Speed"),
-    VALUE("Value"),
-
-    // Swerve
-    GYRO_YAW("Gyro Yaw"),
-    GYRO_YAW_RATE("Gyro Yaw Rate (deg/sec)"),
-    SWERVE_FORWARD("Swerve Forward"),
-    SWERVE_STRAFE("Swerve Strafe"),
-    SWERVE_AZIMUTH("Swerve Azimuth"),
-
-    // PathFinder
-    PATH_SEG_X("Trajectory X Coordinate"),
-    PATH_SEG_Y("Trajectory Y Coordinate"),
-    PATH_SEG_POSITION_METERS("Trajectory Position (meters)"),
-    PATH_SEG_POSITION_TICKS("Trajectory Position (ticks)"),
-    PATH_SEG_VELOCITY("Trajectory Velocity"),
-    PATH_SEG_ACCELERATION("Trajectory Acceleration"),
-    PATH_SEG_JERK("Trajectory Jerk"),
-    PATH_SEG_HEADING("Trajectory Heading"),
-    PATH_DISTANCE("Distance Travelled"),
-    PATH_POSITION_ERROR("Path Position Error"),
-
     // Canifier
     PWM0_PULSE_WIDTH("PWM 0 Pulse Width"),
     PWM0_PERIOD("PWM 0 Period"),
@@ -76,4 +53,42 @@ enum class Measure constructor(val description: String) {
     PWM3_PULSE_WIDTH("PWM 3 Pulse Width"),
     PWM3_PERIOD("PWM 3 Period"),
     PWM3_PULSE_WIDTH_POSITION("PWM 3 Pulse Width Position"),
+
+    // General
+    DISPLACEMENT_X("X Displacement"),
+    DISPLACEMENT_Y("Y Displacement"),
+    DISPLACEMENT_Z("Z Displacement"),
+    ROTATION_X("X Rotation (Roll)"),
+    ROTATION_Y("Y Rotation (Pitch)"),
+    ROTATION_Z("Z Rotation (Yaw)"),
+    ROTATION_RATE_X("X Rotation Rate (Roll)"),
+    ROTATION_RATE_Y("Y Rotation Rate (Pitch)"),
+    ROTATION_RATE_Z("Z Rotation Rate (Yaw)"),
+
+    COMPONENT_FORWARD("Forward Component"),
+    COMPONENT_STRAFE("Strafe Component"),
+    COMPONENT_YAW("Yaw Component"),
+
+    DISPLACEMENT_EXPECTED("Expected Displacement"),
+    DISPLACEMENT_ACTUAL("Actual Displacement"),
+    DISPLACEMENT_ERROR("Displacement Error"),
+    VELOCITY_EXPECTED("Expected Velocity"),
+    VELOCITY_ACTUAL("Actual Velocity"),
+    VELOCITY_ERROR("Velocity Error"),
+    ACCELERATION_EXPECTED("Expected Acceleration"),
+    ACCELERATION_ACTUAL("Actual Acceleration"),
+    ACCELERATION_ERROR("Acceleration Error"),
+    JERK_EXPECTED("Expected Jerk"),
+    JERK_ACTUAL("Actual Jerk"),
+    JERK_ERROR("Jerk Error"),
+
+    ENCODER_EXPECTED("Expected Encoder Value"),
+    ENCODER_ACTUAL("Actual Encoder Value"),
+    ENCODER_ERROR("Encoder Value Error"),
+
+    POSITION("Position"),
+    RANGE("Range"),
+    ANGLE("Angle"),
+    VALUE("Measured Value"),
+    UNKNOWN("Unknown Measurement"),
 }

telemetry/src/main/kotlin/org/strykeforce/thirdcoast/telemetry/item/TalonItem.kt

@@ -34,8 +34,8 @@ class TalonItem @JvmOverloads constructor(
             ERROR_DERIVATIVE -> DoubleSupplier { talon.getErrorDerivative(0) }
             INTEGRAL_ACCUMULATOR -> DoubleSupplier { talon.getIntegralAccumulator(0) }
             ANALOG_IN -> DoubleSupplier { sensorCollection.analogIn.toDouble() }
-            ANALOG_RAW -> DoubleSupplier { sensorCollection.analogInRaw.toDouble() }
-            ANALOG_VELOCITY -> DoubleSupplier { sensorCollection.analogInVel.toDouble() }
+            ANALOG_IN_RAW -> DoubleSupplier { sensorCollection.analogInRaw.toDouble() }
+            ANALOG_IN_VELOCITY -> DoubleSupplier { sensorCollection.analogInVel.toDouble() }
             QUAD_POSITION -> DoubleSupplier { sensorCollection.quadraturePosition.toDouble() }
             QUAD_VELOCITY -> DoubleSupplier { sensorCollection.quadratureVelocity.toDouble() }
             QUAD_A_PIN -> DoubleSupplier { sensorCollection.pinStateQuadA.toDouble() }
@@ -79,9 +79,8 @@ class TalonItem @JvmOverloads constructor(
             ERROR_DERIVATIVE,
             INTEGRAL_ACCUMULATOR,
             ANALOG_IN,
-            ANALOG_RAW,
-            ANALOG_POSITION,
-            ANALOG_VELOCITY,
+            ANALOG_IN_RAW,
+            ANALOG_IN_VELOCITY,
             QUAD_POSITION,
             QUAD_VELOCITY,
             QUAD_A_PIN,