ControlFrame.h

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/* Copyright (C) Cross The Road Electronics 2024 */
#pragma once
 
namespace ctre {
namespace phoenix {
namespace motorcontrol {
 
/**
 * Control Frames for motor controllers
 */
enum ControlFrame {
    /**
     * Control
     */
    Control_3_General = 0x040080,
    /**
     * Advanced Control
     */
    Control_4_Advanced = 0x0400C0,
    /**
     * Trajectory points 
     */
    Control_6_MotProfAddTrajPoint = 0x040140,
};
 
/**
 * Control Frames for enhanced motor controllers
 */
enum ControlFrameEnhanced {
    /**
     * Control
     */
    Control_3_General_ = 0x040080,
    /**
     * Advanced Control
     */
    Control_4_Advanced_ = 0x0400c0,
    /**
     * Override feedback output
     */
    Control_5_FeedbackOutputOverride_ = 0x040100,
    /**
     * Trajectory points
     */
    Control_6_MotProfAddTrajPoint_ = 0x040140,
};
 
/**
 * Class to handle promotion of controlFrame to controlFrameEnhanced
 */
class ControlFrameRoutines {
    /**
     * Promotes a ControlFrame to a ControlFrameEnhanced
     * @param controlFrame frame to promote
     * @return promoted ControlFrame
     */
    static ControlFrameEnhanced Promote(ControlFrame controlFrame) {
        return (ControlFrameEnhanced) controlFrame;
    }
};
 
}
}
}