add scaled measures to cancoder

strykeforce · Feb 3, 2024 · f47d1e7 · f47d1e7
1 parent db4b7bc
commit f47d1e7
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Showing 2 changed files with 9 additions and 1 deletion.
diff --git a/build.gradle b/build.gradle
@@ -11,7 +11,7 @@ plugins {
 }
 
 group = "org.strykeforce"
-version = "24.0.1"
+version = "24.0.2"
 
 sourceCompatibility = JavaVersion.VERSION_17
 targetCompatibility = JavaVersion.VERSION_17

diff --git a/src/main/kotlin/org/strykeforce/telemetry/measurable/CancoderMeasureable.kt b/src/main/kotlin/org/strykeforce/telemetry/measurable/CancoderMeasureable.kt
@@ -3,11 +3,15 @@ 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
+import org.strykeforce.telemetry.talon.POS_SCALE
 
 internal  const val MAGNET_HEALTH = "MAGNET_HEALTH"
 //internal const val POSITION = "POSITION"
+internal const val POSITION_SCALED = "POS_SCALED"
 internal const val POSITION_SINCE_BOOT = "POSITION_SINCE_BOOT"
+internal const val POS_BOOT_SCALED = "POS_BOOT_SCALED"
 internal const val ABS_POSITION = "ABS_POSITION"
+internal const val ABS_POS_SCALED = "ABS_POS_SCALED"
 internal const val SUPPLY_VOLTAGE = "SUPPLY_VOLTAGE"
 internal const val UNFILTERED_VELOCITY = "UNFILTERED_VELOCITY"
 internal const val VELOCITY = "VELOCITY"
@@ -18,12 +22,16 @@ class CancoderMeasureable @JvmOverloads constructor(
     override val description: String = "Cancoder ${cancoder.deviceID}"
 ): Measurable {
 
+    private val scaleFactor = 1000.0;
     override val deviceId = cancoder.deviceID
     override val measures = setOf(
         Measure(MAGNET_HEALTH, "Magnet Health") {cancoder.magnetHealth.valueAsDouble},
         Measure(POSITION, "Position") {cancoder.position.valueAsDouble},
+        Measure(POS_SCALE, "Pos. Scaled") {cancoder.position.valueAsDouble * scaleFactor},
         Measure(POSITION_SINCE_BOOT, "Position Since Boot") {cancoder.positionSinceBoot.valueAsDouble},
+        Measure(POS_BOOT_SCALED, "Pos. since Boot Scaled") {cancoder.positionSinceBoot.valueAsDouble * scaleFactor},
         Measure(ABS_POSITION, "Absolute Position") {cancoder.absolutePosition.valueAsDouble},
+        Measure(ABS_POS_SCALED, "Absolute Pos. Scaled") {cancoder.absolutePosition.valueAsDouble * scaleFactor},
         Measure(SUPPLY_VOLTAGE, "Supply Voltage") {cancoder.supplyVoltage.valueAsDouble},
         Measure(UNFILTERED_VELOCITY, "Unfiltered Velocity") {cancoder.unfilteredVelocity.valueAsDouble},
         Measure(VELOCITY, "Velocity") {cancoder.velocity.valueAsDouble},