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Update to make compatible with new Funky Dashboard improvements #98

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26 changes: 13 additions & 13 deletions src/main/scala/com/lynbrookrobotics/seventeen/CoreRobot.scala
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Original file line number Diff line number Diff line change
Expand Up @@ -331,33 +331,33 @@ class CoreRobot(configFileValue: Signal[String], updateConfigFile: String => Uni
))

drivetrain.foreach { d =>
board.datasetGroup("Drivetrain/Velocity").addDataset(drivetrainHardware.leftVelocity.map(_.toFeetPerSecond).toTimeSeriesNumeric("Left Ground Velocity"))
board.datasetGroup("Drivetrain/Velocity").addDataset(drivetrainHardware.rightVelocity.map(_.toFeetPerSecond).toTimeSeriesNumeric("Right Ground Velocity"))
board.datasetGroup("Drivetrain/Velocity").addDataset(drivetrainHardware.leftVelocity.map(_.toFeetPerSecond).toTimeSeriesNumeric("Left Ground Velocity")("Feet Per Second"))
board.datasetGroup("Drivetrain/Velocity").addDataset(drivetrainHardware.rightVelocity.map(_.toFeetPerSecond).toTimeSeriesNumeric("Right Ground Velocity")("Feet Per Second"))

board.datasetGroup("Drivetrain/Velocity").addDataset(new TimeSeriesNumeric("Left Encoder Ticks/s")(drivetrainHardware.leftBack.getSpeed * 10))
board.datasetGroup("Drivetrain/Velocity").addDataset(new TimeSeriesNumeric("Right Encoder Ticks/s")(drivetrainHardware.rightBack.getSpeed * 10))
board.datasetGroup("Drivetrain/Velocity").addDataset(new TimeSeriesNumeric("Left Out")(drivetrainHardware.leftBack.get()))
board.datasetGroup("Drivetrain/Velocity").addDataset(new TimeSeriesNumeric("Right Out")(drivetrainHardware.rightBack.get()))

board.datasetGroup("Drivetrain/Position").addDataset(drivetrainHardware.leftPosition.map(_.toFeet).toTimeSeriesNumeric("Left Ground"))
board.datasetGroup("Drivetrain/Position").addDataset(drivetrainHardware.rightPosition.map(_.toFeet).toTimeSeriesNumeric("Right Ground"))
board.datasetGroup("Drivetrain/Position").addDataset(drivetrainHardware.leftPosition.map(_.toFeet).toTimeSeriesNumeric("Left Ground")("Feet"))
board.datasetGroup("Drivetrain/Position").addDataset(drivetrainHardware.rightPosition.map(_.toFeet).toTimeSeriesNumeric("Right Ground")("Feet"))

board.datasetGroup("Drivetrain/Position").addDataset(drivetrainHardware.rootDataStream
.map(d => (d.leftEncoderRotation * drivetrainProps.get.gearRatio).toDegrees).toTimeSeriesNumeric("Left Wheel Rotation"))
.map(d => (d.leftEncoderRotation * drivetrainProps.get.gearRatio).toDegrees).toTimeSeriesNumeric("Left Wheel Rotation")("Degrees"))

board.datasetGroup("Drivetrain/Position").addDataset(drivetrainHardware.rootDataStream
.map(d => (d.rightEncoderRotation * drivetrainProps.get.gearRatio).toDegrees).toTimeSeriesNumeric("Right Wheel Rotation"))
.map(d => (d.rightEncoderRotation * drivetrainProps.get.gearRatio).toDegrees).toTimeSeriesNumeric("Right Wheel Rotation")("Degrees"))

board.datasetGroup("Drivetrain/Gyro").addDataset(drivetrainHardware.turnVelocity.map(_.toDegreesPerSecond).toTimeSeriesNumeric("Turn Velocity"))
board.datasetGroup("Drivetrain/Gyro").addDataset(drivetrainHardware.turnPosition.map(_.toDegrees).toTimeSeriesNumeric("Rotational Position"))
board.datasetGroup("Drivetrain/Gyro").addDataset(drivetrainHardware.turnVelocity.map(_.toDegreesPerSecond).toTimeSeriesNumeric("Turn Velocity")("Degrees Per Second"))
board.datasetGroup("Drivetrain/Gyro").addDataset(drivetrainHardware.turnPosition.map(_.toDegrees).toTimeSeriesNumeric("Rotational Position")("Degrees Per Second"))
}

shooterFlywheel.foreach { d =>
board.datasetGroup("Flywheel").addDataset(
shooterFlywheelHardware.leftVelocity.map(_.toRevolutionsPerMinute).toTimeSeriesNumeric("Left Speed"))
shooterFlywheelHardware.leftVelocity.map(_.toRevolutionsPerMinute).toTimeSeriesNumeric("Left Speed")("Revolutions Per Minute"))

board.datasetGroup("Flywheel").addDataset(
shooterFlywheelHardware.rightVelocity.map(_.toRevolutionsPerMinute).toTimeSeriesNumeric("Right Speed"))
shooterFlywheelHardware.rightVelocity.map(_.toRevolutionsPerMinute).toTimeSeriesNumeric("Right Speed")("Revolutions Per Minute"))

board.datasetGroup("Flywheel").addDataset(new TimeSeriesNumeric("Left Out")(
shooterFlywheelHardware.leftMotor.get()
Expand All @@ -369,7 +369,7 @@ class CoreRobot(configFileValue: Signal[String], updateConfigFile: String => Uni

board.datasetGroup("Flywheel").addDataset(
shooterFlywheelHardware.rightVelocity.zip(shooterFlywheelHardware.leftVelocity)
.map(t => (t._1 - t._2).toRevolutionsPerMinute).toTimeSeriesNumeric("Right - Left"))
.map(t => (t._1 - t._2).toRevolutionsPerMinute).toTimeSeriesNumeric("Right - Left")("Revolutions Per Minute"))
}

climberPuller.foreach { c =>
Expand All @@ -392,9 +392,9 @@ class CoreRobot(configFileValue: Signal[String], updateConfigFile: String => Uni

object CoreRobot {
implicit class ToTimeSeriesNumeric[T](val stream: Stream[T]) extends AnyVal {
def toTimeSeriesNumeric(name: String)(implicit ev: T => Double): TimeSeriesNumeric = {
def toTimeSeriesNumeric(name: String)(whatUnits: String)(implicit ev: T => Double): TimeSeriesNumeric = {
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@shadaj shadaj Jan 21, 2018

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I think whatUnits would be better suited as just another parameter instead of being curried, since it's just another configuration value.

var lastValue: Double = 0.0
new TimeSeriesNumeric(name)(lastValue) {
new TimeSeriesNumeric(name)(whatUnits)(lastValue) {
val cancel = stream.foreach { v =>
lastValue = v
}
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