canandmag functionality for purplelib :D

src/main/java/org/lasarobotics/hardware/reduxrobotics/Canandmag.java

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+package org.lasarobotics.hardware.reduxrobotics;
+
+// Copyright (c) LASA Robotics and other contributors
+// Open Source Software; you can modify and/or share it under the terms of
+// the MIT license file in the root directory of this project.
+
+import org.lasarobotics.hardware.LoggableHardware;
+import org.lasarobotics.hardware.PurpleManager;
+import org.littletonrobotics.junction.AutoLog;
+import org.littletonrobotics.junction.Logger;
+
+import com.ctre.phoenix6.StatusCode;
+import com.ctre.phoenix6.configs.CANcoderConfiguration;
+import com.ctre.phoenix6.signals.SensorDirectionValue;
+
+/** CTRE CANCoder */
+public class Canandmag extends LoggableHardware {
+  /** CANCoder ID */
+  public static class ID {
+    public final String name;
+    public final int deviceID;
+
+    /**
+     * CANCoder ID
+     * @param name Device name for logging
+     * @param deviceID CAN ID
+     */
+    public ID(String name, int deviceID) {
+      this.name = name;
+      this.deviceID = deviceID;
+    }
+  }
+
+  /** CANCoder Status Frame */
+  public enum CANCoderFrame {
+    ABSOLUTE_POSITION,
+    RELATIVE_POSITION,
+    VELOCITY
+  }
+
+  @AutoLog
+  public static class CanandmagInputs {
+    public double absolutePosition = 0.0;
+    public double relativePosition = 0.0;
+    public double velocity = 0.0;
+  }
+
+  private com.reduxrobotics.sensors.canandmag.Canandmag m_canandmag;
+
+  private ID m_id;
+  private CanandmagInputsAutoLogged m_inputs;
+
+  private double m_absolutePositionCoefficient = 1.0;
+  private double m_relativePositionCoefficient = 1.0;
+  private double m_velocityCoefficient = 1.0;
+
+  public Canandmag(ID id) {
+    this.m_id = id;
+    this.m_inputs = new CanandmagInputsAutoLogged();
+
+    // Update inputs on init
+    periodic();
+
+    // Register device with manager
+    PurpleManager.add(this);
+  }
+
+   /**
+     * Gets the absolute position of the sensor.
+     * The absolute position may be unsigned (for example: [0,360) deg), or signed (for example: [-180,+180) deg). This is determined by a configuration. The default selection is unsigned.
+     * The units are determined by the internal coefficient, default is rotations.
+     * Note: this signal is not affected by calls to SetPosition().
+     * @return The position of the sensor.
+     */
+  private double getAbsolutePosition() {
+    return m_canandmag.getAbsPosition() * m_absolutePositionCoefficient;
+  }
+
+  /**
+   * Gets the position of the sensor.  This may be relative or absolute depending on configuration.
+   * The units are determined by the internal coefficient, default is rotations.
+   * @return The position of the sensor.
+   */
+  private double getRelativePosition() {
+    return m_canandmag.getPosition() * m_relativePositionCoefficient;
+  }
+
+  /**
+   * Gets the velocity of the sensor.
+   * The units are determined by the internal coefficient, default is rotations per second.
+   * @return The velocity of the sensor.
+   */
+  private double getCanVelocity() {
+    return m_canandmag.getVelocity() * m_velocityCoefficient;
+  }
+
+  /**
+   * Gets the velocity of the sensor.
+   * The units are determined by the internal coefficient, default is rotations.
+   * @return The Velocity of the sensor.
+   */
+  private void updateInputs() {
+    m_inputs.absolutePosition = getAbsolutePosition();
+    m_inputs.relativePosition = getRelativePosition();
+    m_inputs.velocity = getCanVelocity();
+  }
+
+  /**
+   * Call this method periodically
+   */
+  @Override
+  protected void periodic() {
+    updateInputs();
+    Logger.processInputs(m_id.name, m_inputs);
+  }
+
+  /**
+   * Get latest sensor input data
+   * @return Latest sensor data
+   */
+  @Override
+  public CanandmagInputsAutoLogged getInputs() {
+    return m_inputs;
+  }
+
+  /**
+   * Get device ID
+   * @return Device ID
+   */
+  public ID getID() {
+    return m_id;
+  }
+
+  /**
+   * Sets the Absolute Position coefficent to allow control of units.
+   * @param absolutePositionCoefficient Scalar to multiply the absolute position by when it is returned. Defaults to 1.0.
+   */
+  public void setAbsolutePositionCoefficient(double absolutePositionCoefficient) {
+    m_absolutePositionCoefficient = absolutePositionCoefficient;
+  }
+
+  /**
+   * Sets the Relative Position coefficent to allow control of units.
+   * @param relativePositionCoefficient Scalar to multiply the relative position by when it is returned. Defaults to 1.0.
+   */
+  public void setRelativePositionCoefficient(double relativePositionCoefficient) {
+    m_relativePositionCoefficient = relativePositionCoefficient;
+  }
+
+  /**
+   * Sets the Velocity coefficent to allow control of units.
+   * @param velocityCoefficient Scalar to multiply the absolute Velocity by when it is returned. Defaults to 1.0.
+   */
+  public void setVelocityCoefficient(double velocityCoefficient) {
+    m_velocityCoefficient = velocityCoefficient;
+  }
+
+  /**
+   * Sets the position of the sensor to specified value
+   * The units are determined by the coefficient and unit-string configuration params, default is rotations.
+   * @param position Position to reset to
+   * @return boolean generated by function. 0 indicates no error.
+   */
+  public boolean resetPosition(double position) {
+    return m_canandmag.setPosition(position / m_relativePositionCoefficient);
+  }
+
+ /**
+   * Sets the position of the sensor to zero
+   * The units are determined by the coefficient and unit-string configuration params, default is degrees.
+   * @return boolean generated by function. 0 indicates no error.
+   */
+  public boolean resetPosition() {
+    return resetPosition(0.0);
+  }
+
+  /**
+   * Configures all persistent settings to defaults (overloaded so timeoutMs is 50 ms).
+   *
+   * @return boolean generated by function. 0 indicates no error.
+   */
+  public boolean configFactoryDefault() {
+    try{
+      m_canandmag.resetFactoryDefaults(true);
+      return false;
+    } catch(Exception e) {
+      return true;
+    } 
+  }
+
+
+
+  @Override
+  public void close() {
+    PurpleManager.remove(this);
+    m_canandmag = null;
+  }
+}
+

vendordeps/ReduxLib_2024.json

@@ -0,0 +1,55 @@
+{
+    "fileName": "ReduxLib_2024.json",
+    "name": "ReduxLib",
+    "version": "2024.3.1",
+    "frcYear": 2024,
+    "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd",
+    "mavenUrls": [
+        "https://maven.reduxrobotics.com/"
+    ],
+    "jsonUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2024.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.reduxrobotics.frc",
+            "artifactId": "ReduxLib-java",
+            "version": "2024.3.1"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.reduxrobotics.frc",
+            "artifactId": "ReduxLib-driver",
+            "version": "2024.3.1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "linuxathena",
+                "linuxx86-64",
+                "linuxarm32",
+                "linuxarm64",
+                "osxuniversal",
+                "windowsx86-64"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.reduxrobotics.frc",
+            "artifactId": "ReduxLib-cpp",
+            "version": "2024.3.1",
+            "libName": "ReduxLib-cpp",
+            "headerClassifier": "headers",
+            "sourcesClassifier": "sources",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena",
+                "linuxx86-64",
+                "linuxarm32",
+                "linuxarm64",
+                "osxuniversal",
+                "windowsx86-64"
+            ]
+        }
+    ]
+}