/* Copyright (C) Cross The Road Electronics 2024 */
package com.ctre.phoenix.motorcontrol.can;

import com.ctre.phoenix.motorcontrol.ControlFrame;
import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.DemandType;
import com.ctre.phoenix.motorcontrol.Faults;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.FollowerType;
import com.ctre.phoenix.motorcontrol.IMotorController;
import com.ctre.phoenix.motorcontrol.InvertType;
import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
import com.ctre.phoenix.motorcontrol.LimitSwitchSource;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.RemoteFeedbackDevice;
import com.ctre.phoenix.motorcontrol.RemoteLimitSwitchSource;
import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
import com.ctre.phoenix.motorcontrol.SensorTerm;
import com.ctre.phoenix.motorcontrol.StatusFrame;
import com.ctre.phoenix.motorcontrol.StatusFrameEnhanced;
import com.ctre.phoenix.motorcontrol.StickyFaults;
import com.ctre.phoenix.motorcontrol.VelocityMeasPeriod;
import com.ctre.phoenix.motorcontrol.VictorSPXSimCollection;
import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.ParamEnum;
import com.ctre.phoenix.motion.BufferedTrajectoryPointStream;
import com.ctre.phoenix.motion.MotionProfileStatus;
import com.ctre.phoenix.motion.SetValueMotionProfile;
import com.ctre.phoenix.motion.TrajectoryPoint;
import com.ctre.phoenix.ErrorCode;
import com.ctre.phoenix.ErrorCollection;
import com.ctre.phoenix.ParamEnum;
import com.ctre.phoenix.sensors.SensorVelocityMeasPeriod;

/**
 * Base motor controller features for all CTRE CAN motor controllers.
 */
public abstract class BaseMotorController implements com.ctre.phoenix.motorcontrol.IMotorController {

        private ControlMode m_controlMode = ControlMode.PercentOutput;
        private ControlMode m_sendMode = ControlMode.PercentOutput;

        private InvertType _invert = InvertType.None;

        private boolean _isVcompEn = false; //off by default

        /**
         * Device handle
         */
        protected long m_handle;

        private int [] _motionProfStats = new int[11];

        private VictorSPXSimCollection _simCollSpx;

        // --------------------- Constructors -----------------------------//
        /**
         * Constructor for motor controllers.
         *
         * @param arbId Device ID [0,62]
         * @param model String specifying device model
         */
        public BaseMotorController(int arbId, String model, String canbus) {
                m_handle = MotControllerJNI.Create2(arbId, model, canbus);
                _simCollSpx = new VictorSPXSimCollection(this);
        }

        /**
         * Constructor for motor controllers.
         *
         * @param arbId Device ID [0,62]
         * @param model String specifying device model
         */
        public BaseMotorController(int arbId, String model) {
                this(arbId, model, "");
        }

        protected VictorSPXSimCollection getVictorSPXSimCollection() {return _simCollSpx;}

        /**
         * Destructor for motor controllers
         * @return Error Code generated by function. 0 indicates no error.
         */
    public ErrorCode DestroyObject() {
        return ErrorCode.valueOf(MotControllerJNI.JNI_destroy_MotController(m_handle));
    }

    //public static void DestroyAllMotControllers() {
    //    MotControllerJNI.JNI_destroy_AllMotControllers();
    //}

        /**
         * @return CCI handle for child classes.
         */
        public long getHandle() {
                return m_handle;
        }

        /**
         * Returns the Device ID
         *
         * @return Device number.
         */
        public int getDeviceID() {
                return MotControllerJNI.GetDeviceNumber(m_handle);
        }

        // ------ Set output routines. ----------//
        /**
         * Sets the appropriate output on the talon, depending on the mode.
         * @param mode The output mode to apply.
         * In PercentOutput, the output is between -1.0 and 1.0, with 0.0 as stopped.
         * In Current mode, output value is in amperes.
         * In Velocity mode, output value is in position change / 100ms.
         * In Position mode, output value is in encoder ticks or an analog value,
         *   depending on the sensor.
         * In Follower mode, the output value is the integer device ID of the talon to
         * duplicate.
         *
         * @param outputValue The setpoint value, as described above.
         *
         *
         *      Standard Driving Example:
         *      _talonLeft.set(ControlMode.PercentOutput, leftJoy);
         *      _talonRght.set(ControlMode.PercentOutput, rghtJoy);
         */
        public void set(ControlMode mode, double outputValue) {
                set(mode, outputValue, DemandType.Neutral, 0);
        }
        /**
         * @param mode Sets the appropriate output on the talon, depending on the mode.
         * @param demand0 The output value to apply.
         *      such as advanced feed forward and/or auxiliary close-looping in firmware.
         * In PercentOutput, the output is between -1.0 and 1.0, with 0.0 as stopped.
         * In Current mode, output value is in amperes.
         * In Velocity mode, output value is in position change / 100ms.
         * In Position mode, output value is in encoder ticks or an analog value,
         *   depending on the sensor. See
         * In Follower mode, the output value is the integer device ID of the talon to
         * duplicate.
         *
         * @param demand1Type The demand type for demand1.
         * Neutral: Ignore demand1 and apply no change to the demand0 output.
         * AuxPID: Use demand1 to set the target for the auxiliary PID 1.  Auxiliary
         *   PID is always executed as standard Position PID control.
         * ArbitraryFeedForward: Use demand1 as an arbitrary additive value to the
         *       demand0 output.  In PercentOutput the demand0 output is the motor output,
         *   and in closed-loop modes the demand0 output is the output of PID0.
         * @param demand1 Supplmental output value.
         * AuxPID: Target position in Sensor Units
         * ArbitraryFeedForward: Percent Output between -1.0 and 1.0
         *
         *
         *  Arcade Drive Example:
         *              _talonLeft.set(ControlMode.PercentOutput, joyForward, DemandType.ArbitraryFeedForward, +joyTurn);
         *              _talonRght.set(ControlMode.PercentOutput, joyForward, DemandType.ArbitraryFeedForward, -joyTurn);
         *
         *      Drive Straight Example:
         *      Note: Selected Sensor Configuration is necessary for both PID0 and PID1.
         *              _talonLeft.follow(_talonRght, FollwerType.AuxOutput1);
         *              _talonRght.set(ControlMode.PercentOutput, joyForward, DemandType.AuxPID, desiredRobotHeading);
         *
         *      Drive Straight to a Distance Example:
         *      Note: Other configurations (sensor selection, PID gains, etc.) need to be set.
         *              _talonLeft.follow(_talonRght, FollwerType.AuxOutput1);
         *              _talonRght.set(ControlMode.MotionMagic, targetDistance, DemandType.AuxPID, desiredRobotHeading);
         */
        public void set(ControlMode mode, double demand0, DemandType demand1Type, double demand1){
                m_controlMode = mode;
                m_sendMode = mode;
                int work;

                switch (m_controlMode) {
                case PercentOutput:
                        // case TimedPercentOutput:
                        MotControllerJNI.Set_4(m_handle, m_sendMode.value, demand0, demand1, demand1Type.value);
                        break;
                case Follower:
                        /* did caller specify device ID */
                        if ((0 <= demand0) && (demand0 <= 62)) { // [0,62]
                                work = getBaseID();
                                work >>= 16;
                                work <<= 8;
                                work |= ((int) demand0) & 0xFF;
                        } else {
                                work = (int) demand0;
                        }
                        /* single precision guarantees 16bits of integral precision,
                   * so float/double cast on work is safe */
                        MotControllerJNI.Set_4(m_handle, m_sendMode.value, (double)work, demand1, demand1Type.value);
                        break;
                case Velocity:
                case Position:
                case MotionMagic:
                case MotionProfile:
                case MotionProfileArc:
                        MotControllerJNI.Set_4(m_handle, m_sendMode.value, demand0, demand1, demand1Type.value);
                        break;
                case Current:
                        MotControllerJNI.SetDemand(m_handle, m_sendMode.value, (int) (1000. * demand0), 0); /* milliamps */
                        break;
                case MusicTone:
                        MotControllerJNI.Set_4(m_handle, m_sendMode.value, demand0, demand1, demand1Type.value);
                        break;
                case Disabled:
                        /* fall thru... */
                default:
                        MotControllerJNI.SetDemand(m_handle, m_sendMode.value, 0, 0);
                        break;
                }

        }

        /**
         * Neutral the motor output by setting control mode to disabled.
         */
        public void neutralOutput() {
                set(ControlMode.Disabled, 0);
        }

        /**
         * Sets the mode of operation during neutral throttle output.
         *
         * @param neutralMode
         *            The desired mode of operation when the Controller output
         *            throttle is neutral (ie brake/coast)
         **/
        public void setNeutralMode(NeutralMode neutralMode) {
                MotControllerJNI.SetNeutralMode(m_handle, neutralMode.value);
        }

        // ------ Invert behavior ----------//
        /**
         * Sets the phase of the sensor. Use when controller forward/reverse output
         * doesn't correlate to appropriate forward/reverse reading of sensor.
         * Pick a value so that positive PercentOutput yields a positive change in sensor.
         * After setting this, user can freely call SetInverted() with any value.
         *
         * @param PhaseSensor
         *            Indicates whether to invert the phase of the sensor.
         */
        public void setSensorPhase(boolean PhaseSensor) {
                MotControllerJNI.SetSensorPhase(m_handle, PhaseSensor);
        }

        /**
         * Inverts the hbridge output of the motor controller.
         *
         * This does not impact sensor phase and should not be used to correct sensor polarity.
         *
         * This will invert the hbridge output but NOT the LEDs.
         * This ensures....
         *  - Green LEDs always represents positive request from robot-controller/closed-looping mode.
         *  - Green LEDs correlates to forward limit switch.
         *  - Green LEDs correlates to forward soft limit.
         *
         * @param invert
         *            Invert state to set.
         */
        public void setInverted(boolean invert) {
                if(invert){
                        setInverted(InvertType.InvertMotorOutput);
                }
                else{
                        setInverted(InvertType.None);
                }
        }

        /**
         * Inverts the hbridge output of the motor controller in relation to the master if present
         *
         * This does not impact sensor phase and should not be used to correct sensor polarity.
         *
         * This will allow you to either:
         *  - Not invert the motor
         *  - Invert the motor
         *  - Always follow the master regardless of master's inversion
         *  - Always oppose the master regardless of master's inversion
         *
         * @param invertType
         *            Invert state to set.
         */
        public void setInverted(InvertType invertType){
                _invert = invertType;
                MotControllerJNI.SetInverted_2(m_handle, invertType.value);
        }

        /**
         * @return invert setting of motor output.
         */
        public boolean getInverted() {
                switch(_invert){
                        case None:{
                                return false;
                        }
                        case InvertMotorOutput:{
                                return true;
                        }
                        default:{
                                break;
                        }
                }
                return MotControllerJNI.GetInverted(m_handle);
        }

    //----- Factory Default Configuration -----//
        /**
         * Revert all configurations to factory default values.
         * Use this before your individual config* calls to avoid having to config every single param.
         *
         * Alternatively you can use the configAllSettings routine.
         *
         * @param timeoutMs
         *            Timeout value in ms. Function will generate error if config is
         *            not successful within timeout.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configFactoryDefault(int timeoutMs){
                int retval = MotControllerJNI.ConfigFactoryDefault(m_handle, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Revert all configurations to factory default values.
         * Use this before your individual config* calls to avoid having to config every single param.
         *
         * Alternatively you can use the configAllSettings routine.
         *
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configFactoryDefault() {
        int timeoutMs = 50;
                int retval = MotControllerJNI.ConfigFactoryDefault(m_handle, timeoutMs);
                return ErrorCode.valueOf(retval);
        }

        // ----- general output shaping ------------------//
        /**
         * Configures the open-loop ramp rate of throttle output.
         *
         * @param secondsFromNeutralToFull
         *            Minimum desired time to go from neutral to full throttle. A
         *            value of '0' will disable the ramp.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configOpenloopRamp(double secondsFromNeutralToFull, int timeoutMs) {
                int retval = MotControllerJNI.ConfigOpenLoopRamp(m_handle, secondsFromNeutralToFull, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Configures the open-loop ramp rate of throttle output.
         *
         * @param secondsFromNeutralToFull
         *            Minimum desired time to go from neutral to full throttle. A
         *            value of '0' will disable the ramp.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configOpenloopRamp(double secondsFromNeutralToFull) {
                int timeoutMs = 0;
                return configOpenloopRamp(secondsFromNeutralToFull, timeoutMs);
        }

        /**
         * Configures the closed-loop ramp rate of throttle output.
         *
         * @param secondsFromNeutralToFull
         *            Minimum desired time to go from neutral to full throttle. A
         *            value of '0' will disable the ramp.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configClosedloopRamp(double secondsFromNeutralToFull, int timeoutMs) {
                int retval = MotControllerJNI.ConfigClosedLoopRamp(m_handle, secondsFromNeutralToFull, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Configures the closed-loop ramp rate of throttle output.
         *
         * @param secondsFromNeutralToFull
         *            Minimum desired time to go from neutral to full throttle. A
         *            value of '0' will disable the ramp.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configClosedloopRamp(double secondsFromNeutralToFull) {
                int timeoutMs = 0;
                return configClosedloopRamp(secondsFromNeutralToFull, timeoutMs);
        }

        /**
         * Configures the forward peak output percentage.
         *
         * @param percentOut
         *            Desired peak output percentage. [0,1]
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configPeakOutputForward(double percentOut, int timeoutMs) {
                int retval = MotControllerJNI.ConfigPeakOutputForward(m_handle, percentOut, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Configures the forward peak output percentage.
         *
         * @param percentOut
         *            Desired peak output percentage. [0,1]
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configPeakOutputForward(double percentOut) {
                int timeoutMs = 0;
                return configPeakOutputForward(percentOut, timeoutMs);
        }

        /**
         * Configures the reverse peak output percentage.
         *
         * @param percentOut
         *            Desired peak output percentage.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configPeakOutputReverse(double percentOut, int timeoutMs) {
                int retval = MotControllerJNI.ConfigPeakOutputReverse(m_handle, percentOut, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Configures the reverse peak output percentage.
         *
         * @param percentOut
         *            Desired peak output percentage.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configPeakOutputReverse(double percentOut) {
                int timeoutMs = 0;
                return configPeakOutputReverse(percentOut, timeoutMs);
        }
        /**
         * Configures the forward nominal output percentage.
         *
         * @param percentOut
         *            Nominal (minimum) percent output. [0,+1]
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configNominalOutputForward(double percentOut, int timeoutMs) {
                int retval = MotControllerJNI.ConfigNominalOutputForward(m_handle, percentOut, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Configures the forward nominal output percentage.
         *
         * @param percentOut
         *            Nominal (minimum) percent output. [0,+1]
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configNominalOutputForward(double percentOut) {
                int timeoutMs = 0;
                return configNominalOutputForward(percentOut, timeoutMs);
        }

        /**
         * Configures the reverse nominal output percentage.
         *
         * @param percentOut
         *            Nominal (minimum) percent output. [-1,0]
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configNominalOutputReverse(double percentOut, int timeoutMs) {
                int retval = MotControllerJNI.ConfigNominalOutputReverse(m_handle, percentOut, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Configures the reverse nominal output percentage.
         *
         * @param percentOut
         *            Nominal (minimum) percent output. [-1,0]
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configNominalOutputReverse(double percentOut) {
                int timeoutMs = 0;
                return configNominalOutputReverse(percentOut, timeoutMs);
        }

        /**
         * Configures the output deadband percentage.
         *
         * @param percentDeadband
         *            Desired deadband percentage. Minimum is 0.1%, Maximum is 25%.
         *            Pass 0.04 for 4% (factory default).
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configNeutralDeadband(double percentDeadband, int timeoutMs) {
                int retval = MotControllerJNI.ConfigNeutralDeadband(m_handle, percentDeadband, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Configures the output deadband percentage.
         *
         * @param percentDeadband
         *            Desired deadband percentage. Minimum is 0.1%, Maximum is 25%.
         *            Pass 0.04 for 4% (factory default).
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configNeutralDeadband(double percentDeadband) {
                int timeoutMs = 0;
                return configNeutralDeadband(percentDeadband, timeoutMs);
        }

        // ------ Voltage Compensation ----------//
        /**
         * Configures the Voltage Compensation saturation voltage.
         *
         * @param voltage
         *            This is the max voltage to apply to the hbridge when voltage
         *            compensation is enabled.  For example, if 10 (volts) is specified
         *            and a TalonSRX is commanded to 0.5 (PercentOutput, closed-loop, etc)
         *            then the TalonSRX will attempt to apply a duty-cycle to produce 5V.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configVoltageCompSaturation(double voltage, int timeoutMs) {
                int retval = MotControllerJNI.ConfigVoltageCompSaturation(m_handle, voltage, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Configures the Voltage Compensation saturation voltage.
         *
         * @param voltage
         *            This is the max voltage to apply to the hbridge when voltage
         *            compensation is enabled.  For example, if 10 (volts) is specified
         *            and a TalonSRX is commanded to 0.5 (PercentOutput, closed-loop, etc)
         *            then the TalonSRX will attempt to apply a duty-cycle to produce 5V.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configVoltageCompSaturation(double voltage) {
                int timeoutMs = 0;
                return configVoltageCompSaturation(voltage, timeoutMs);
        }

        /**
         * Configures the voltage measurement filter.
         *
         * @param filterWindowSamples
         *            Number of samples in the rolling average of voltage
         *            measurement.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configVoltageMeasurementFilter(int filterWindowSamples, int timeoutMs) {
                int retval = MotControllerJNI.ConfigVoltageMeasurementFilter(m_handle, filterWindowSamples, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Configures the voltage measurement filter.
         *
         * @param filterWindowSamples
         *            Number of samples in the rolling average of voltage
         *            measurement.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configVoltageMeasurementFilter(int filterWindowSamples) {
                int timeoutMs = 0;
                return configVoltageMeasurementFilter(filterWindowSamples, timeoutMs);
        }

        /**
         * Enables voltage compensation. If enabled, voltage compensation works in
         * all control modes.
         *
         * Be sure to configure the saturation voltage before enabling this.
         *
         * @param enable
         *            Enable state of voltage compensation.
         **/
        public void enableVoltageCompensation(boolean enable) {
                _isVcompEn = enable;
                MotControllerJNI.EnableVoltageCompensation(m_handle, enable);
        }

        /**
         * Returns the enable state of Voltage Compensation that the caller has set.
         *
         * @return TRUE if voltage compensation is enabled.
         */
        public boolean isVoltageCompensationEnabled(){
                return _isVcompEn;
        }

        // ------ General Status ----------//
        /**
         * Gets the bus voltage seen by the device.
         *
         * @return The bus voltage value (in volts).
         */
        public double getBusVoltage() {
                return MotControllerJNI.GetBusVoltage(m_handle);
        }

        /**
         * Gets the output percentage of the motor controller.
         *
         * @return Output of the motor controller (in percent).
         */
        public double getMotorOutputPercent() {
                return MotControllerJNI.GetMotorOutputPercent(m_handle);
        }

        /**
         * @return applied voltage to motor  in volts.
         */
        public double getMotorOutputVoltage() {
                return getBusVoltage() * getMotorOutputPercent();
        }

        /**
         * Gets the output current of the motor controller.
         * In the case of TalonSRX class, this routine returns supply current for legacy reasons.  In order to get the "true" output current, call GetStatorCurrent().
         *
         * @deprecated Use getStatorCurrent/getSupplyCurrent instead.
         *
         * @return The output current (in amps).
         */
        @Deprecated
        protected double getOutputCurrent() {
                return MotControllerJNI.GetOutputCurrent(m_handle);
        }

        /**
         * Gets the temperature of the motor controller.
         *
         * @return Temperature of the motor controller (in 'C)
         */
        public double getTemperature() {
                return MotControllerJNI.GetTemperature(m_handle);
        }

        // ------ sensor selection ----------//
        /**
         * Select the remote feedback device for the motor controller.
         * Most CTRE CAN motor controllers will support remote sensors over CAN.
         *
         * @param feedbackDevice
         *            Remote Feedback Device to select.
         * @param pidIdx
         *            0 for Primary closed-loop. 1 for auxiliary closed-loop.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configSelectedFeedbackSensor(RemoteFeedbackDevice feedbackDevice, int pidIdx, int timeoutMs) {
                int retval = MotControllerJNI.ConfigSelectedFeedbackSensor(m_handle, feedbackDevice.value, pidIdx, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Select the remote feedback device for the motor controller.
         * Most CTRE CAN motor controllers will support remote sensors over CAN.
         *
         * @param feedbackDevice
         *            Remote Feedback Device to select.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configSelectedFeedbackSensor(RemoteFeedbackDevice feedbackDevice) {
                int pidIdx = 0;
                int timeoutMs = 0;
                return configSelectedFeedbackSensor(feedbackDevice, pidIdx, timeoutMs);
        }

        /**
         * Select the feedback device for the motor controller.
         *
         * @param feedbackDevice
         *            Feedback Device to select.
         * @param pidIdx
         *            0 for Primary closed-loop. 1 for auxiliary closed-loop.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configSelectedFeedbackSensor(FeedbackDevice feedbackDevice, int pidIdx, int timeoutMs) {
                int retval = MotControllerJNI.ConfigSelectedFeedbackSensor(m_handle, feedbackDevice.value, pidIdx, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Select the feedback device for the motor controller.
         *
         * @param feedbackDevice
         *            Feedback Device to select.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configSelectedFeedbackSensor(FeedbackDevice feedbackDevice) {
                int pidIdx = 0;
                int timeoutMs = 0;
                return configSelectedFeedbackSensor(feedbackDevice, pidIdx, timeoutMs);
        }

        /**
         * The Feedback Coefficient is a scalar applied to the value of the
         * feedback sensor.  Useful when you need to scale your sensor values
         * within the closed-loop calculations.  Default value is 1.
         *
         * Selected Feedback Sensor register in firmware is the decoded sensor value
         * multiplied by the Feedback Coefficient.
         *
         * @param coefficient
         *            Feedback Coefficient value.  Maximum value of 1.
         *                                              Resolution is 1/(2^16).  Cannot be 0.
         * @param pidIdx
         *            0 for Primary closed-loop. 1 for auxiliary closed-loop.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configSelectedFeedbackCoefficient(double coefficient, int pidIdx, int timeoutMs) {
          int retval = MotControllerJNI.ConfigSelectedFeedbackCoefficient(m_handle, coefficient, pidIdx, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * The Feedback Coefficient is a scalar applied to the value of the
         * feedback sensor.  Useful when you need to scale your sensor values
         * within the closed-loop calculations.  Default value is 1.
         *
         * Selected Feedback Sensor register in firmware is the decoded sensor value
         * multiplied by the Feedback Coefficient.
         *
         * @param coefficient
         *            Feedback Coefficient value.  Maximum value of 1.
         *                                              Resolution is 1/(2^16).  Cannot be 0.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configSelectedFeedbackCoefficient(double coefficient) {
                int pidIdx = 0;
        int timeoutMs = 0;
                return configSelectedFeedbackCoefficient(coefficient, pidIdx, timeoutMs);
        }
        /**
         * Select what remote device and signal to assign to Remote Sensor 0 or Remote Sensor 1.
         * After binding a remote device and signal to Remote Sensor X, you may select Remote Sensor X
         * as a PID source for closed-loop features.
         *
         * @param deviceID
         *            The device ID of the remote sensor device.
         * @param remoteSensorSource
         *            The remote sensor device and signal type to bind.
         * @param remoteOrdinal
         *            0 for configuring Remote Sensor 0,
         *            1 for configuring Remote Sensor 1
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configRemoteFeedbackFilter(int deviceID, RemoteSensorSource remoteSensorSource, int remoteOrdinal,
                        int timeoutMs) {
                int retval = MotControllerJNI.ConfigRemoteFeedbackFilter(m_handle, deviceID, remoteSensorSource.value, remoteOrdinal,
                                timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Select what remote device and signal to assign to Remote Sensor 0 or Remote Sensor 1.
         * After binding a remote device and signal to Remote Sensor X, you may select Remote Sensor X
         * as a PID source for closed-loop features.
         *
         * @param deviceID
         *            The device ID of the remote sensor device.
         * @param remoteSensorSource
         *            The remote sensor device and signal type to bind.
         * @param remoteOrdinal
         *            0 for configuring Remote Sensor 0,
         *            1 for configuring Remote Sensor 1
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configRemoteFeedbackFilter(int deviceID, RemoteSensorSource remoteSensorSource, int remoteOrdinal) {
        int timeoutMs = 0;
                return configRemoteFeedbackFilter(deviceID, remoteSensorSource, remoteOrdinal, timeoutMs);
        }
        /**
         * Select what remote device and signal to assign to Remote Sensor 0 or Remote Sensor 1.
         * After binding a remote device and signal to Remote Sensor X, you may select Remote Sensor X
         * as a PID source for closed-loop features.
         *
         * @param canCoderRef
         *            CANCoder device reference to use.
         * @param remoteOrdinal
         *            0 for configuring Remote Sensor 0,
         *            1 for configuring Remote Sensor 1
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configRemoteFeedbackFilter(CANCoder canCoderRef, int remoteOrdinal, int timeoutMs) {
                return configRemoteFeedbackFilter(canCoderRef.getDeviceID(), RemoteSensorSource.CANCoder, remoteOrdinal, timeoutMs);
        }
        /**
         * Select what remote device and signal to assign to Remote Sensor 0 or Remote Sensor 1.
         * After binding a remote device and signal to Remote Sensor X, you may select Remote Sensor X
         * as a PID source for closed-loop features.
         *
         * @param canCoderRef
         *            CANCoder device reference to use.
         * @param remoteOrdinal
         *            0 for configuring Remote Sensor 0,
         *            1 for configuring Remote Sensor 1
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configRemoteFeedbackFilter(CANCoder canCoderRef, int remoteOrdinal) {
                int timeoutMs = 0;
                return configRemoteFeedbackFilter(canCoderRef, remoteOrdinal, timeoutMs);
        }
        /**
         * Select what remote device and signal to assign to Remote Sensor 0 or Remote Sensor 1.
         * After binding a remote device and signal to Remote Sensor X, you may select Remote Sensor X
         * as a PID source for closed-loop features.
         *
         * @param talonRef
         *            Talon device reference to use.
         * @param remoteOrdinal
         *            0 for configuring Remote Sensor 0,
         *            1 for configuring Remote Sensor 1
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configRemoteFeedbackFilter(BaseTalon talonRef, int remoteOrdinal, int timeoutMs) {
                return configRemoteFeedbackFilter(talonRef.getDeviceID(), RemoteSensorSource.TalonSRX_SelectedSensor, remoteOrdinal, timeoutMs);
        }
        /**
         * Select what remote device and signal to assign to Remote Sensor 0 or Remote Sensor 1.
         * After binding a remote device and signal to Remote Sensor X, you may select Remote Sensor X
         * as a PID source for closed-loop features.
         *
         * @param talonRef
         *            Talon device reference to use.
         * @param remoteOrdinal
         *            0 for configuring Remote Sensor 0,
         *            1 for configuring Remote Sensor 1
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configRemoteFeedbackFilter(BaseTalon talonRef, int remoteOrdinal) {
                int timeoutMs = 0;
                return configRemoteFeedbackFilter(talonRef, remoteOrdinal, timeoutMs);
        }
        /**
         * Select what sensor term should be bound to switch feedback device.
         * Sensor Sum = Sensor Sum Term 0 - Sensor Sum Term 1
         * Sensor Difference = Sensor Diff Term 0 - Sensor Diff Term 1
         * The four terms are specified with this routine.  Then Sensor Sum/Difference
         * can be selected for closed-looping.
         *
         * @param sensorTerm Which sensor term to bind to a feedback source.
         * @param feedbackDevice The sensor signal to attach to sensorTerm.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configSensorTerm(SensorTerm sensorTerm, FeedbackDevice feedbackDevice, int timeoutMs) {
                int retval = MotControllerJNI.ConfigSensorTerm(m_handle, sensorTerm.value, feedbackDevice.value, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Select what sensor term should be bound to switch feedback device.
         * Sensor Sum = Sensor Sum Term 0 - Sensor Sum Term 1
         * Sensor Difference = Sensor Diff Term 0 - Sensor Diff Term 1
         * The four terms are specified with this routine.  Then Sensor Sum/Difference
         * can be selected for closed-looping.
         *
         * @param sensorTerm Which sensor term to bind to a feedback source.
         * @param feedbackDevice The sensor signal to attach to sensorTerm.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configSensorTerm(SensorTerm sensorTerm, FeedbackDevice feedbackDevice) {
                int timeoutMs = 0;
                return configSensorTerm(sensorTerm, feedbackDevice, timeoutMs);
        }
        /**
         * Select what sensor term should be bound to switch feedback device.
         * Sensor Sum = Sensor Sum Term 0 - Sensor Sum Term 1
         * Sensor Difference = Sensor Diff Term 0 - Sensor Diff Term 1
         * The four terms are specified with this routine.  Then Sensor Sum/Difference
         * can be selected for closed-looping.
         *
         * @param sensorTerm Which sensor term to bind to a feedback source.
         * @param feedbackDevice The sensor signal to attach to sensorTerm.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configSensorTerm(SensorTerm sensorTerm, RemoteFeedbackDevice feedbackDevice, int timeoutMs) {
                return configSensorTerm(sensorTerm, feedbackDevice.getFeedbackDevice(), timeoutMs);
        }
        /**
         * Select what sensor term should be bound to switch feedback device.
         * Sensor Sum = Sensor Sum Term 0 - Sensor Sum Term 1
         * Sensor Difference = Sensor Diff Term 0 - Sensor Diff Term 1
         * The four terms are specified with this routine.  Then Sensor Sum/Difference
         * can be selected for closed-looping.
         *
         * @param sensorTerm Which sensor term to bind to a feedback source.
         * @param feedbackDevice The sensor signal to attach to sensorTerm.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configSensorTerm(SensorTerm sensorTerm, RemoteFeedbackDevice feedbackDevice) {
                int timeoutMs = 0;
                return configSensorTerm(sensorTerm, feedbackDevice.getFeedbackDevice(), timeoutMs);
        }

        // ------- sensor status --------- //
        /**
         * Get the selected sensor position (in raw sensor units).
         *
         * @param pidIdx
         *            0 for Primary closed-loop. 1 for auxiliary closed-loop. See
         *            Phoenix-Documentation for how to interpret.
         *
         * @return Position of selected sensor (in raw sensor units).
         */
        public double getSelectedSensorPosition(int pidIdx) {
                return (double)MotControllerJNI.GetSelectedSensorPosition(m_handle, pidIdx);
        }
        /**
         * Get the selected sensor position (in raw sensor units).
         *
         * @return Position of selected sensor (in raw sensor units).
         */
        public double getSelectedSensorPosition() {
                int pidIdx = 0;
                return getSelectedSensorPosition(pidIdx);
        }

        /**
         * Get the selected sensor velocity.
         *
         * @param pidIdx
         *            0 for Primary closed-loop. 1 for auxiliary closed-loop.
         * @return selected sensor (in raw sensor units) per 100ms.
         * See Phoenix-Documentation for how to interpret.
         */
        public double getSelectedSensorVelocity(int pidIdx) {
                return (double)MotControllerJNI.GetSelectedSensorVelocity(m_handle, pidIdx);
        }
        /**
         * Get the selected sensor velocity.
         *
         * @return selected sensor (in raw sensor units) per 100ms.
         * See Phoenix-Documentation for how to interpret.
         */
        public double getSelectedSensorVelocity() {
                int pidIdx = 0;
                return getSelectedSensorVelocity(pidIdx);
        }

        /**
         * Sets the sensor position to the given value.
         *
         * @param sensorPos
         *            Position to set for the selected sensor (in raw sensor units).
         * @param pidIdx
         *            0 for Primary closed-loop. 1 for auxiliary closed-loop.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode setSelectedSensorPosition(double sensorPos, int pidIdx, int timeoutMs) {
                int retval = MotControllerJNI.SetSelectedSensorPosition(m_handle, (int)sensorPos, pidIdx, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Sets the sensor position to the given value.
         *
         * @param sensorPos
         *            Position to set for the selected sensor (in raw sensor units).
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode setSelectedSensorPosition(double sensorPos) {
                int pidIdx = 0;
                int timeoutMs = 0;
                return setSelectedSensorPosition(sensorPos, pidIdx, timeoutMs);
        }

        // ------ status frame period changes ----------//
        /**
         * Sets the period of the given control frame.
         *
         * @param frame
         *            Frame whose period is to be changed.
         * @param periodMs
         *            Period in ms for the given frame.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode setControlFramePeriod(ControlFrame frame, int periodMs) {
                int retval = MotControllerJNI.SetControlFramePeriod(m_handle, frame.value, periodMs);
                return ErrorCode.valueOf(retval);
        }

        /**
         * Sets the period of the given status frame.
         *
         * User ensure CAN Bus utilization is not high.
         *
         * This setting is not persistent and is lost when device is reset.
         * If this is a concern, calling application can use hasResetOccurred()
         * to determine if the status frame needs to be reconfigured.
         *
         * @param frame
         *            Frame whose period is to be changed.
         * @param periodMs
         *            Period in ms for the given frame.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode setControlFramePeriod(int frame, int periodMs) {
                int retval = MotControllerJNI.SetControlFramePeriod(m_handle, frame, periodMs);
                return ErrorCode.valueOf(retval);
        }

        /**
         * Sets the period of the given status frame.
         *
         * User ensure CAN Bus utilization is not high.
         *
         * This setting is not persistent and is lost when device is reset. If this
         * is a concern, calling application can use hasResetOccurred() to determine if the
         * status frame needs to be reconfigured.
         *
         * @param frameValue
         *            Frame whose period is to be changed.
         * @param periodMs
         *            Period in ms for the given frame.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for config
         *            success and report an error if it times out. If zero, no
         *            blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode setStatusFramePeriod(int frameValue, int periodMs, int timeoutMs) {
                int retval = MotControllerJNI.SetStatusFramePeriod(m_handle, frameValue, periodMs, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Sets the period of the given status frame.
         *
         * User ensure CAN Bus utilization is not high.
         *
         * This setting is not persistent and is lost when device is reset. If this
         * is a concern, calling application can use hasResetOccurred() to determine if the
         * status frame needs to be reconfigured.
         *
         * @param frameValue
         *            Frame whose period is to be changed.
         * @param periodMs
         *            Period in ms for the given frame.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode setStatusFramePeriod(int frameValue, int periodMs) {
                int timeoutMs = 0;
                return  setStatusFramePeriod(frameValue, periodMs,timeoutMs);
        }

        /**
         * Sets the period of the given status frame.
         *
         * @param frame
         *            Frame whose period is to be changed.
         * @param periodMs
         *            Period in ms for the given frame.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode setStatusFramePeriod(StatusFrame frame, int periodMs, int timeoutMs) {
                return setStatusFramePeriod(frame.value, periodMs, timeoutMs);
        }
        /**
         * Sets the period of the given status frame.
         *
         * @param frame
         *            Frame whose period is to be changed.
         * @param periodMs
         *            Period in ms for the given frame.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode setStatusFramePeriod(StatusFrame frame, int periodMs) {
                int timeoutMs = 0;
                return setStatusFramePeriod(frame,periodMs, timeoutMs);
        }

        /**
         * Gets the period of the given status frame.
         *
         * @param frame
         *            Frame to get the period of.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Period of the given status frame.
         */
        public int getStatusFramePeriod(int frame, int timeoutMs) {
                return MotControllerJNI.GetStatusFramePeriod(m_handle, frame, timeoutMs);
        }
        /**
         * Gets the period of the given status frame.
         *
         * @param frame
         *            Frame to get the period of.
         * @return Period of the given status frame.
         */
        public int getStatusFramePeriod(int frame) {
                int timeoutMs = 0;
                return getStatusFramePeriod(frame, timeoutMs);
        }

        /**
         * Gets the period of the given status frame.
         *
         * @param frame
         *            Frame to get the period of.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Period of the given status frame.
         */
        public int getStatusFramePeriod(StatusFrame frame, int timeoutMs) {
                return MotControllerJNI.GetStatusFramePeriod(m_handle, frame.value, timeoutMs);
        }
        /**
         * Gets the period of the given status frame.
         *
         * @param frame
         *            Frame to get the period of.
         * @return Period of the given status frame.
         */
        public int getStatusFramePeriod(StatusFrame frame) {
                int timeoutMs = 0;
                return getStatusFramePeriod(frame, timeoutMs);
        }

        /**
         * Gets the period of the given status frame.
         *
         * @param frame
         *            Frame to get the period of.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Period of the given status frame.
         */
        public int getStatusFramePeriod(StatusFrameEnhanced frame, int timeoutMs) {
                return MotControllerJNI.GetStatusFramePeriod(m_handle, frame.value, timeoutMs);
        }
        /**
         * Gets the period of the given status frame.
         *
         * @param frame
         *            Frame to get the period of.
         * @return Period of the given status frame.
         */
        public int getStatusFramePeriod(StatusFrameEnhanced frame) {
                int timeoutMs = 0;
                return  getStatusFramePeriod(frame, timeoutMs);
        }

        // ----- velocity signal conditionaing ------//

        /**
         * Sets the period over which velocity measurements are taken.
         *
         * @param period
         *            Desired period for the velocity measurement. @see
         *            com.ctre.phoenix.sensors.SensorVelocityMeasPeriod
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configVelocityMeasurementPeriod(SensorVelocityMeasPeriod period, int timeoutMs) {
                int retval = MotControllerJNI.ConfigVelocityMeasurementPeriod(m_handle, period.value, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Sets the period over which velocity measurements are taken.
         *
         * @deprecated Use the overload with SensorVelocityMeasPeriod instead.
         *
         * @param period
         *            Desired period for the velocity measurement. @see
         *            com.ctre.phoenix.motorcontrol.VelocityMeasPeriod
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        @Deprecated
        public ErrorCode configVelocityMeasurementPeriod(VelocityMeasPeriod period, int timeoutMs) {
                int retval = MotControllerJNI.ConfigVelocityMeasurementPeriod(m_handle, period.value, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Sets the period over which velocity measurements are taken.
         *
         * @param period
         *            Desired period for the velocity measurement. @see
         *            com.ctre.phoenix.sensors.SensorVelocityMeasPeriod
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configVelocityMeasurementPeriod(SensorVelocityMeasPeriod period) {
                int timeoutMs = 0;
                return configVelocityMeasurementPeriod(period, timeoutMs);
        }
        /**
         * Sets the period over which velocity measurements are taken.
         *
         * @deprecated Use the overload with SensorVelocityMeasPeriod instead.
         *
         * @param period
         *            Desired period for the velocity measurement. @see
         *            com.ctre.phoenix.motorcontrol.VelocityMeasPeriod
         * @return Error Code generated by function. 0 indicates no error.
         */
        @Deprecated
        public ErrorCode configVelocityMeasurementPeriod(VelocityMeasPeriod period) {
                int timeoutMs = 0;
                return configVelocityMeasurementPeriod(period, timeoutMs);
        }

        /**
         * Sets the number of velocity samples used in the rolling average velocity
         * measurement.
         *
         * @param windowSize
         *            Number of samples in the rolling average of velocity
         *            measurement. Valid values are 1,2,4,8,16,32. If another value
         *            is specified, it will truncate to nearest support value.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for config
         *            success and report an error if it times out. If zero, no
         *            blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configVelocityMeasurementWindow(int windowSize, int timeoutMs) {
                int retval = MotControllerJNI.ConfigVelocityMeasurementWindow(m_handle, windowSize, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Sets the number of velocity samples used in the rolling average velocity
         * measurement.
         *
         * @param windowSize
         *            Number of samples in the rolling average of velocity
         *            measurement. Valid values are 1,2,4,8,16,32. If another value
         *            is specified, it will truncate to nearest support value.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configVelocityMeasurementWindow(int windowSize) {
                int timeoutMs = 0;
                return configVelocityMeasurementWindow(windowSize, timeoutMs);
        }

        // ------ remote limit switch ----------//
        /**
         * Configures the forward limit switch for a remote source. For example, a
         * CAN motor controller may need to monitor the Limit-F pin of another Talon
         * or CANifier.
         *
         * @param type
         *            Remote limit switch source. User can choose between a remote
         *            Talon SRX, CANifier, or deactivate the feature.
         * @param normalOpenOrClose
         *            Setting for normally open, normally closed, or disabled. This
         *            setting matches the Phoenix Tuner drop down.
         * @param deviceID
         *            Device ID of remote source (Talon SRX or CANifier device ID).
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for config
         *            success and report an error if it times out. If zero, no
         *            blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configForwardLimitSwitchSource(RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose,
                        int deviceID, int timeoutMs) {
                return configForwardLimitSwitchSource(type.value, normalOpenOrClose.value, deviceID, timeoutMs);
        }
        /**
         * Configures the forward limit switch for a remote source. For example, a
         * CAN motor controller may need to monitor the Limit-F pin of another Talon
         * or CANifier.
         *
         * @param type
         *            Remote limit switch source. User can choose between a remote
         *            Talon SRX, CANifier, or deactivate the feature.
         * @param normalOpenOrClose
         *            Setting for normally open, normally closed, or disabled. This
         *            setting matches the Phoenix Tuner drop down.
         * @param deviceID
         *            Device ID of remote source (Talon SRX or CANifier device ID).
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configForwardLimitSwitchSource(RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose,
                        int deviceID) {
                int timeoutMs = 0;
                return configForwardLimitSwitchSource(type, normalOpenOrClose, deviceID, timeoutMs);
        }

        /**
         * Configures the reverse limit switch for a remote source. For example, a
         * CAN motor controller may need to monitor the Limit-R pin of another Talon
         * or CANifier.
         *
         * @param type
         *            Remote limit switch source. User can choose between a remote
         *            Talon SRX, CANifier, or deactivate the feature.
         * @param normalOpenOrClose
         *            Setting for normally open, normally closed, or disabled. This
         *            setting matches the Phoenix Tuner drop down.
         * @param deviceID
         *            Device ID of remote source (Talon SRX or CANifier device ID).
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for config
         *            success and report an error if it times out. If zero, no
         *            blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configReverseLimitSwitchSource(RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose,
                        int deviceID, int timeoutMs) {
                int retval = MotControllerJNI.ConfigReverseLimitSwitchSource(m_handle, type.value, normalOpenOrClose.value,
                                deviceID, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Configures the reverse limit switch for a remote source. For example, a
         * CAN motor controller may need to monitor the Limit-R pin of another Talon
         * or CANifier.
         *
         * @param type
         *            Remote limit switch source. User can choose between a remote
         *            Talon SRX, CANifier, or deactivate the feature.
         * @param normalOpenOrClose
         *            Setting for normally open, normally closed, or disabled. This
         *            setting matches the Phoenix Tuner drop down.
         * @param deviceID
         *            Device ID of remote source (Talon SRX or CANifier device ID).
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configReverseLimitSwitchSource(RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose,
                        int deviceID) {
                int timeoutMs = 0;
                return configReverseLimitSwitchSource(type, normalOpenOrClose, deviceID, timeoutMs);
        }

        /**
         * Configures a limit switch for a local/remote source.
         *
         * For example, a CAN motor controller may need to monitor the Limit-R pin
         * of another Talon, CANifier, or local Gadgeteer feedback connector.
         *
         * If the sensor is remote, a device ID of zero is assumed. If that's not
         * desired, use the four parameter version of this function.
         *
         * @param type
         *            Limit switch source. @see com.ctre.phoenix.motorcontrol.LimitSwitchSource User can choose
         *            between the feedback connector, remote Talon SRX, CANifier, or
         *            deactivate the feature.
         * @param normalOpenOrClose
         *            Setting for normally open, normally closed, or disabled. This
         *            setting matches the Phoenix Tuner drop down.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for config
         *            success and report an error if it times out. If zero, no
         *            blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configForwardLimitSwitchSource(LimitSwitchSource type, LimitSwitchNormal normalOpenOrClose,
                        int timeoutMs) {
                return configForwardLimitSwitchSource(type.value, normalOpenOrClose.value, -1, timeoutMs);
        }
        /**
         * Configures a limit switch for a local/remote source.
         *
         * For example, a CAN motor controller may need to monitor the Limit-R pin
         * of another Talon, CANifier, or local Gadgeteer feedback connector.
         *
         * If the sensor is remote, a device ID of zero is assumed. If that's not
         * desired, use the four parameter version of this function.
         *
         * @param type
         *            Limit switch source. @see com.ctre.phoenix.motorcontrol.LimitSwitchSource User can choose
         *            between the feedback connector, remote Talon SRX, CANifier, or
         *            deactivate the feature.
         * @param normalOpenOrClose
         *            Setting for normally open, normally closed, or disabled. This
         *            setting matches the Phoenix Tuner drop down.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configForwardLimitSwitchSource(LimitSwitchSource type, LimitSwitchNormal normalOpenOrClose) {
                int timeoutMs = 0;
                return configForwardLimitSwitchSource(type, normalOpenOrClose, timeoutMs);
        }

        /**
         * Configures a limit switch for a local/remote source.
         *
         * For example, a CAN motor controller may need to monitor the Limit-R pin
         * of another Talon, CANifier, or local Gadgeteer feedback connector.
         *
         * If the sensor is remote, a device ID of zero is assumed. If that's not
         * desired, use the four parameter version of this function.
         *
         * @param typeValue
         *            Limit switch source. @see com.ctre.phoenix.motorcontrol.LimitSwitchSource User can choose
         *            between the feedback connector, remote Talon SRX, CANifier, or
         *            deactivate the feature.
         * @param normalOpenOrCloseValue
         *            Setting for normally open, normally closed, or disabled. This
         *            setting matches the Phoenix Tuner drop down.
         * @param deviceID
         *            Device ID of remote source (Talon SRX or CANifier device ID).
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for config
         *            success and report an error if it times out. If zero, no
         *            blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        protected ErrorCode configForwardLimitSwitchSource(int typeValue, int normalOpenOrCloseValue, int deviceID,
                        int timeoutMs) {
                int retval = MotControllerJNI.ConfigForwardLimitSwitchSource(m_handle, typeValue, normalOpenOrCloseValue,
                                deviceID, timeoutMs);
                return ErrorCode.valueOf(retval);
        }

        /**
         * Configures a limit switch for a local/remote source.
         *
         * For example, a CAN motor controller may need to monitor the Limit-R pin
         * of another Talon, CANifier, or local Gadgeteer feedback connector.
         *
         * If the sensor is remote, a device ID of zero is assumed. If that's not
         * desired, use the four parameter version of this function.
         *
         * @param typeValue
         *            Limit switch source. @see com.ctre.phoenix.motorcontrol.LimitSwitchSource User can choose
         *            between the feedback connector, remote Talon SRX, CANifier, or
         *            deactivate the feature.
         * @param normalOpenOrCloseValue
         *            Setting for normally open, normally closed, or disabled. This
         *            setting matches the Phoenix Tuner drop down.
         * @param deviceID
         *            The device ID of the remote sensor device.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for config
         *            success and report an error if it times out. If zero, no
         *            blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        protected ErrorCode configReverseLimitSwitchSource(int typeValue, int normalOpenOrCloseValue, int deviceID,
                        int timeoutMs) {
                int retval = MotControllerJNI.ConfigReverseLimitSwitchSource(m_handle, typeValue, normalOpenOrCloseValue,
                                deviceID, timeoutMs);
                return ErrorCode.valueOf(retval);
        }

        /**
         * Sets the enable state for limit switches.
         *
         * @param enable
         *            Enable state for limit switches.
         **/
        public void overrideLimitSwitchesEnable(boolean enable) {
                MotControllerJNI.OverrideLimitSwitchesEnable(m_handle, enable);
        }

        // ------ soft limit ----------//
        /**
         * Configures the forward soft limit threhold.
         *
         * @param forwardSensorLimit
         *            Forward Sensor Position Limit (in raw sensor units).
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configForwardSoftLimitThreshold(double forwardSensorLimit, int timeoutMs) {
                int retval = MotControllerJNI.ConfigForwardSoftLimitThreshold(m_handle, (int)forwardSensorLimit, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Configures the forward soft limit threhold.
         *
         * @param forwardSensorLimit
         *            Forward Sensor Position Limit (in raw sensor units).
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configForwardSoftLimitThreshold(double forwardSensorLimit) {
                int timeoutMs = 0;
                return configForwardSoftLimitThreshold(forwardSensorLimit, timeoutMs);
        }

        /**
         * Configures the reverse soft limit threshold.
         *
         * @param reverseSensorLimit
         *            Reverse Sensor Position Limit (in raw sensor units).
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configReverseSoftLimitThreshold(double reverseSensorLimit, int timeoutMs) {
                int retval = MotControllerJNI.ConfigReverseSoftLimitThreshold(m_handle, (int)reverseSensorLimit, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Configures the reverse soft limit threshold.
         *
         * @param reverseSensorLimit
         *            Reverse Sensor Position Limit (in raw sensor units).
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configReverseSoftLimitThreshold(double reverseSensorLimit) {
                int timeoutMs = 0;
                return configReverseSoftLimitThreshold(reverseSensorLimit, timeoutMs);
        }

        /**
         * Configures the forward soft limit enable.
         *
         * @param enable
         *            Forward Sensor Position Limit Enable.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configForwardSoftLimitEnable(boolean enable, int timeoutMs) {
                int retval = MotControllerJNI.ConfigForwardSoftLimitEnable(m_handle, enable, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Configures the forward soft limit enable.
         *
         * @param enable
         *            Forward Sensor Position Limit Enable.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configForwardSoftLimitEnable(boolean enable) {
                int timeoutMs = 0;
                return configForwardSoftLimitEnable(enable, timeoutMs);
        }

        /**
         * Configures the reverse soft limit enable.
         *
         * @param enable
         *            Reverse Sensor Position Limit Enable.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for config
         *            success and report an error if it times out. If zero, no
         *            blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configReverseSoftLimitEnable(boolean enable, int timeoutMs) {
                int retval = MotControllerJNI.ConfigReverseSoftLimitEnable(m_handle, enable, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Configures the reverse soft limit enable.
         *
         * @param enable
         *            Reverse Sensor Position Limit Enable.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configReverseSoftLimitEnable(boolean enable) {
                int timeoutMs = 0;
                return configReverseSoftLimitEnable(enable, timeoutMs);
        }

        /**
         * Can be used to override-disable the soft limits.
         * This function can be used to quickly disable soft limits without
         * having to modify the persistent configuration.
         *
         * @param enable
         *            Enable state for soft limit switches.
         */
        public void overrideSoftLimitsEnable(boolean enable) {
                MotControllerJNI.OverrideSoftLimitsEnable(m_handle, enable);
        }

        // ------ Current Lim ----------//
        /* not available in base */

        // ------ General Close loop ----------//
        /**
         * Sets the 'P' constant in the given parameter slot.
         * This is multiplied by closed loop error in sensor units.
         * Note the closed loop output interprets a final value of 1023 as full output.
         * So use a gain of '0.25' to get full output if err is 4096u (Mag Encoder 1 rotation)
         *
         * @param slotIdx
         *            Parameter slot for the constant.
         * @param value
         *            Value of the P constant.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode config_kP(int slotIdx, double value, int timeoutMs) {
                int retval = MotControllerJNI.Config_kP(m_handle, slotIdx,  value, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Sets the 'P' constant in the given parameter slot.
         * This is multiplied by closed loop error in sensor units.
         * Note the closed loop output interprets a final value of 1023 as full output.
         * So use a gain of '0.25' to get full output if err is 4096u (Mag Encoder 1 rotation)
         *
         * @param slotIdx
         *            Parameter slot for the constant.
         * @param value
         *            Value of the P constant.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode config_kP(int slotIdx, double value) {
                int timeoutMs = 0;
                return config_kP( slotIdx,  value,  timeoutMs);
        }

        /**
         * Sets the 'I' constant in the given parameter slot.
         * This is multiplied by accumulated closed loop error in sensor units every PID Loop.
         * Note the closed loop output interprets a final value of 1023 as full output.
         * So use a gain of '0.00025' to get full output if err is 4096u for 1000 loops (accumulater holds 4,096,000),
         * [which is equivalent to one CTRE mag encoder rotation for 1000 milliseconds].
         *
         * @param slotIdx
         *            Parameter slot for the constant.
         * @param value
         *            Value of the I constant.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode config_kI(int slotIdx, double value, int timeoutMs) {
                int retval = MotControllerJNI.Config_kI(m_handle, slotIdx,  value, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Sets the 'I' constant in the given parameter slot.
         * This is multiplied by accumulated closed loop error in sensor units every PID Loop.
         * Note the closed loop output interprets a final value of 1023 as full output.
         * So use a gain of '0.00025' to get full output if err is 4096u for 1000 loops (accumulater holds 4,096,000),
         * [which is equivalent to one CTRE mag encoder rotation for 1000 milliseconds].
         *
         * @param slotIdx
         *            Parameter slot for the constant.
         * @param value
         *            Value of the I constant.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode config_kI(int slotIdx, double value) {
        int timeoutMs = 0;

                return config_kI( slotIdx,  value,  timeoutMs);
        }

        /**
         * Sets the 'D' constant in the given parameter slot.
         *
         * This is multiplied by derivative error (sensor units per PID loop, typically 1ms).
         * Note the closed loop output interprets a final value of 1023 as full output.
         * So use a gain of '250' to get full output if derr is 4096u (Mag Encoder 1 rotation) per 1000 loops (typ 1 sec)
         *
         * @param slotIdx
         *            Parameter slot for the constant.
         * @param value
         *            Value of the D constant.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode config_kD(int slotIdx, double value, int timeoutMs) {
                int retval = MotControllerJNI.Config_kD(m_handle, slotIdx,  value, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Sets the 'D' constant in the given parameter slot.
         *
         * This is multiplied by derivative error (sensor units per PID loop, typically 1ms).
         * Note the closed loop output interprets a final value of 1023 as full output.
         * So use a gain of '250' to get full output if derr is 4096u (Mag Encoder 1 rotation) per 1000 loops (typ 1 sec)
         *
         * @param slotIdx
         *            Parameter slot for the constant.
         * @param value
         *            Value of the D constant.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode config_kD(int slotIdx, double value) {
        int timeoutMs = 0;
                return config_kD( slotIdx,  value,  timeoutMs);
        }

        /**
         * Sets the 'F' constant in the given parameter slot.
         *
         * See documentation for calculation details.
         * If using velocity, motion magic, or motion profile,
         * use (1023 * duty-cycle / sensor-velocity-sensor-units-per-100ms).
         *
         * @param slotIdx
         *            Parameter slot for the constant.
         * @param value
         *            Value of the F constant.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode config_kF(int slotIdx, double value, int timeoutMs) {
                int retval = MotControllerJNI.Config_kF(m_handle, slotIdx,  value, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Sets the 'F' constant in the given parameter slot.
         *
         * See documentation for calculation details.
         * If using velocity, motion magic, or motion profile,
         * use (1023 * duty-cycle / sensor-velocity-sensor-units-per-100ms).
         *
         * @param slotIdx
         *            Parameter slot for the constant.
         * @param value
         *            Value of the F constant.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode config_kF(int slotIdx,  double value) {
        int timeoutMs = 0;
                return config_kF( slotIdx,  value,  timeoutMs);
        }

        /**
         * Sets the Integral Zone constant in the given parameter slot. If the
         * (absolute) closed-loop error is outside of this zone, integral
         * accumulator is automatically cleared. This ensures than integral wind up
         * events will stop after the sensor gets far enough from its target.
         *
         * @param slotIdx
         *            Parameter slot for the constant.
         * @param izone
         *            Value of the Integral Zone constant (closed loop error units X
         *            1ms).
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for config
         *            success and report an error if it times out. If zero, no
         *            blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode config_IntegralZone(int slotIdx, double izone, int timeoutMs) {
                int retval = MotControllerJNI.Config_IntegralZone(m_handle, slotIdx,  (int)izone, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Sets the Integral Zone constant in the given parameter slot. If the
         * (absolute) closed-loop error is outside of this zone, integral
         * accumulator is automatically cleared. This ensures than integral wind up
         * events will stop after the sensor gets far enough from its target.
         *
         * @param slotIdx
         *            Parameter slot for the constant.
         * @param izone
         *            Value of the Integral Zone constant (closed loop error units X
         *            1ms).
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode config_IntegralZone(int slotIdx, double izone) {
        int timeoutMs = 0;
                return config_IntegralZone( slotIdx,  izone,  timeoutMs);
        }

        /**
         * Sets the allowable closed-loop error in the given parameter slot.
         *
         * @param slotIdx
         *            Parameter slot for the constant.
         * @param allowableClosedLoopError
         *            Value of the allowable closed-loop error in sensor units (or sensor units per 100ms for velocity).
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configAllowableClosedloopError(int slotIdx, double allowableClosedLoopError, int timeoutMs) {
                int retval = MotControllerJNI.ConfigAllowableClosedloopError(m_handle, slotIdx, (int)allowableClosedLoopError,
                                timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Sets the allowable closed-loop error in the given parameter slot.
         *
         * @param slotIdx
         *            Parameter slot for the constant.
         * @param allowableClosedLoopError
         *            Value of the allowable closed-loop error in sensor units (or sensor units per 100ms for velocity).
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configAllowableClosedloopError(int slotIdx, double allowableClosedLoopError) {
        int timeoutMs = 0;

                return configAllowableClosedloopError( slotIdx,  allowableClosedLoopError,  timeoutMs);
        }

        /**
         * Sets the maximum integral accumulator in the given parameter slot.
         *
         * @param slotIdx
         *            Parameter slot for the constant.
         * @param iaccum
         *            Value of the maximum integral accumulator (closed loop error
         *            units X 1ms).
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for config
         *            success and report an error if it times out. If zero, no
         *            blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configMaxIntegralAccumulator(int slotIdx, double iaccum, int timeoutMs) {
                int retval = MotControllerJNI.ConfigMaxIntegralAccumulator(m_handle, slotIdx, iaccum, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Sets the maximum integral accumulator in the given parameter slot.
         *
         * @param slotIdx
         *            Parameter slot for the constant.
         * @param iaccum
         *            Value of the maximum integral accumulator (closed loop error
         *            units X 1ms).
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configMaxIntegralAccumulator(int slotIdx, double iaccum) {
        int timeoutMs = 0;
                return configMaxIntegralAccumulator( slotIdx,  iaccum,  timeoutMs);
        }

        /**
         * Sets the peak closed-loop output.  This peak output is slot-specific and
         *   is applied to the output of the associated PID loop.
         * This setting is seperate from the generic Peak Output setting.
         *
         * @param slotIdx
         *            Parameter slot for the constant.
         * @param percentOut
         *            Peak Percent Output from 0 to 1.  This value is absolute and
         *                                              the magnitude will apply in both forward and reverse directions.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configClosedLoopPeakOutput(int slotIdx, double percentOut, int timeoutMs) {
                int retval = MotControllerJNI.ConfigClosedLoopPeakOutput(m_handle, slotIdx, percentOut, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Sets the peak closed-loop output.  This peak output is slot-specific and
         *   is applied to the output of the associated PID loop.
         * This setting is seperate from the generic Peak Output setting.
         *
         * @param slotIdx
         *            Parameter slot for the constant.
         * @param percentOut
         *            Peak Percent Output from 0 to 1.  This value is absolute and
         *                                              the magnitude will apply in both forward and reverse directions.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configClosedLoopPeakOutput(int slotIdx, double percentOut) {
        int timeoutMs = 0;

                return configClosedLoopPeakOutput( slotIdx,  percentOut,  timeoutMs);
        }

        /**
         * Sets the loop time (in milliseconds) of the PID closed-loop calculations.
         * Default value is 1 ms.
         *
         * @param slotIdx
         *            Parameter slot for the constant.
         * @param loopTimeMs
         *            Loop timing of the closed-loop calculations.  Minimum value of
         *                                              1 ms, maximum of 64 ms.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configClosedLoopPeriod(int slotIdx, int loopTimeMs, int timeoutMs) {
                int retval = MotControllerJNI.ConfigClosedLoopPeriod(m_handle, slotIdx, loopTimeMs, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Sets the loop time (in milliseconds) of the PID closed-loop calculations.
         * Default value is 1 ms.
         *
         * @param slotIdx
         *            Parameter slot for the constant.
         * @param loopTimeMs
         *            Loop timing of the closed-loop calculations.  Minimum value of
         *                                              1 ms, maximum of 64 ms.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configClosedLoopPeriod(int slotIdx, int loopTimeMs) {
        int timeoutMs = 0;
                return configClosedLoopPeriod( slotIdx,  loopTimeMs,  timeoutMs);
        }

        /**
         * Configures the Polarity of the Auxiliary PID (PID1).
         *
         * Standard Polarity:
         *    Primary Output = PID0 + PID1,
         *    Auxiliary Output = PID0 - PID1,
         *
         * Inverted Polarity:
         *    Primary Output = PID0 - PID1,
         *    Auxiliary Output = PID0 + PID1,
         *
         * @param invert
         *            If true, use inverted PID1 output polarity.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for config
         *            success and report an error if it times out. If zero, no
         *            blocking or checking is performed.
         * @return Error Code
         */
        public ErrorCode configAuxPIDPolarity(boolean invert, int timeoutMs){
                return configSetParameter(ParamEnum.ePIDLoopPolarity, invert ? 1:0, 0, 1, timeoutMs);
        }
        /**
         * Configures the Polarity of the Auxiliary PID (PID1).
         *
         * Standard Polarity:
         *    Primary Output = PID0 + PID1,
         *    Auxiliary Output = PID0 - PID1,
         *
         * Inverted Polarity:
         *    Primary Output = PID0 - PID1,
         *    Auxiliary Output = PID0 + PID1,
         *
         * @param invert
         *            If true, use inverted PID1 output polarity.
         * @return Error Code
         */
        public ErrorCode configAuxPIDPolarity(boolean invert){
                int timeoutMs = 0;
                return configAuxPIDPolarity(invert,  timeoutMs);
        }

        /**
         * Sets the integral accumulator. Typically this is used to clear/zero the
         * integral accumulator, however some use cases may require seeding the
         * accumulator for a faster response.
         *
         * @param iaccum
         *            Value to set for the integral accumulator (closed loop error
         *            units X 1ms).
         * @param pidIdx
         *            0 for Primary closed-loop. 1 for auxiliary closed-loop.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for config
         *            success and report an error if it times out. If zero, no
         *            blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode setIntegralAccumulator(double iaccum, int pidIdx, int timeoutMs) {
                int retval = MotControllerJNI.SetIntegralAccumulator(m_handle,  iaccum, pidIdx, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Sets the integral accumulator. Typically this is used to clear/zero the
         * integral accumulator, however some use cases may require seeding the
         * accumulator for a faster response.
         *
         * @param iaccum
         *            Value to set for the integral accumulator (closed loop error
         *            units X 1ms).
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode setIntegralAccumulator(double iaccum) {
                int pidIdx = 0;
                int timeoutMs = 0;
                return setIntegralAccumulator( iaccum,  pidIdx,  timeoutMs);
        }

        /**
         * Gets the closed-loop error. The units depend on which control mode is in
         * use.
         *
         * If closed-loop is seeking a target sensor position, closed-loop error is the difference between target
         * and current sensor value (in sensor units.  Example 4096 units per rotation for CTRE Mag Encoder).
         *
         * If closed-loop is seeking a target sensor velocity, closed-loop error is the difference between target
         * and current sensor value (in sensor units per 100ms).
         *
         * If using motion profiling or Motion Magic, closed loop error is calculated against the current target,
         * and not the "final" target at the end of the profile/movement.
         *
         * See Phoenix-Documentation information on units.
         *
         * @param pidIdx
         *            0 for Primary closed-loop. 1 for auxiliary closed-loop.
         * @return Closed-loop error value.
         */
        public double getClosedLoopError(int pidIdx) {
                return (double)MotControllerJNI.GetClosedLoopError(m_handle, pidIdx);
        }
        /**
         * Gets the closed-loop error. The units depend on which control mode is in
         * use.
         *
         * If closed-loop is seeking a target sensor position, closed-loop error is the difference between target
         * and current sensor value (in sensor units.  Example 4096 units per rotation for CTRE Mag Encoder).
         *
         * If closed-loop is seeking a target sensor velocity, closed-loop error is the difference between target
         * and current sensor value (in sensor units per 100ms).
         *
         * If using motion profiling or Motion Magic, closed loop error is calculated against the current target,
         * and not the "final" target at the end of the profile/movement.
         *
         * See Phoenix-Documentation information on units.
         *
         * @return Closed-loop error value.
         */
        public double getClosedLoopError() {
                int pidIdx = 0;
                return getClosedLoopError( pidIdx);
        }

        /**
         * Gets the iaccum value.
         *
         * @param pidIdx
         *            0 for Primary closed-loop. 1 for auxiliary closed-loop.
         * @return Integral accumulator value (Closed-loop error X 1ms).
         */
        public double getIntegralAccumulator(int pidIdx) {
                return MotControllerJNI.GetIntegralAccumulator(m_handle, pidIdx);
        }
        /**
         * Gets the iaccum value.
         *
         * @return Integral accumulator value (Closed-loop error X 1ms).
         */
        public double getIntegralAccumulator() {
                int pidIdx = 0;
                return getIntegralAccumulator(pidIdx);
        }


        /**
         * Gets the derivative of the closed-loop error.
         *
         * @param pidIdx
         *            0 for Primary closed-loop. 1 for auxiliary closed-loop.
         * @return The error derivative value.
         */
        public double getErrorDerivative(int pidIdx) {
                return MotControllerJNI.GetErrorDerivative(m_handle, pidIdx);
        }
        /**
         * Gets the derivative of the closed-loop error.
         *
         * @return The error derivative value.
         */
        public double getErrorDerivative() {
                int pidIdx = 0;

                return getErrorDerivative(pidIdx);
        }

        /**
         * Selects which profile slot to use for closed-loop control.
         *
         * @param slotIdx
         *            Profile slot to select.
         * @param pidIdx
         *            0 for Primary closed-loop. 1 for auxiliary closed-loop.
         **/
        public void selectProfileSlot(int slotIdx, int pidIdx) {
                MotControllerJNI.SelectProfileSlot(m_handle, slotIdx, pidIdx);
        }

        /**
         * Gets the current target of a given closed loop.
         *
         * @param pidIdx
         *            0 for Primary closed-loop. 1 for auxiliary closed-loop.
         * @return The closed loop target.
         */
        public double getClosedLoopTarget(int pidIdx) {
                double value = MotControllerJNI.GetClosedLoopTarget(m_handle, pidIdx);
                if(m_controlMode == ControlMode.Current){
                        value = value / 1000; //convert back to amps
                }
                return value;
        }
        /**
         * Gets the current target of a given closed loop.
         *
         * @return The closed loop target.
         */
        public double getClosedLoopTarget() {
                int pidIdx = 0;
                return getClosedLoopTarget(pidIdx);
        }

        /**
         * Gets the active trajectory target position for pid0 using
         * MotionMagic/MotionProfile control modes.
         *
         * @return The Active Trajectory Position in sensor units.
         */
        public double getActiveTrajectoryPosition() {
                return (double)MotControllerJNI.GetActiveTrajectoryPosition(m_handle);
        }

        /**
         * Gets the active trajectory target position using
         * MotionMagic/MotionProfile control modes.
         *
         * @param pidIdx
         *            0 for Primary closed-loop. 1 for auxiliary closed-loop.
         * @return The Active Trajectory Position in sensor units.
         */
        public double getActiveTrajectoryPosition(int pidIdx) {
                return (double)MotControllerJNI.GetActiveTrajectoryPosition3(m_handle, pidIdx);
        }

        /**
         * Gets the active trajectory target velocity for pid0 using
         * MotionMagic/MotionProfile control modes.
         *
         * @return The Active Trajectory Velocity in sensor units per 100ms.
         */
        public double getActiveTrajectoryVelocity() {
                return (double)MotControllerJNI.GetActiveTrajectoryVelocity(m_handle);
        }

        /**
         * Gets the active trajectory target velocity using
         * MotionMagic/MotionProfile control modes.
         *
         * @param pidIdx
         *            0 for Primary closed-loop. 1 for auxiliary closed-loop.
         * @return The Active Trajectory Velocity in sensor units per 100ms.
         */
        public double getActiveTrajectoryVelocity(int pidIdx) {
                return (double)MotControllerJNI.GetActiveTrajectoryVelocity3(m_handle, pidIdx);
        }

        /**
         * Gets the active trajectory arbitrary feedforward for pid0 using
         * MotionMagic/MotionProfile control modes.
         *
         * @return The Active Trajectory ArbFeedFwd in units of percent output
         *                      (where 0.01 is 1%).
         */
        public double getActiveTrajectoryArbFeedFwd() {
                return MotControllerJNI.GetActiveTrajectoryArbFeedFwd3(m_handle, 0);
        }

        /**
         * Gets the active trajectory arbitrary feedforward using
         * MotionMagic/MotionProfile control modes.
         *
         * @param pidIdx
         *            0 for Primary closed-loop. 1 for auxiliary closed-loop.
         * @return The Active Trajectory ArbFeedFwd in units of percent output
         *                      (where 0.01 is 1%).
         */
        public double getActiveTrajectoryArbFeedFwd(int pidIdx) {
                return MotControllerJNI.GetActiveTrajectoryArbFeedFwd3(m_handle, pidIdx);
        }

        // ------ Motion Profile Settings used in Motion Magic and Motion Profile ----------//

        /**
         * Sets the Motion Magic Cruise Velocity. This is the peak target velocity
         * that the motion magic curve generator can use.
         *
         * @param sensorUnitsPer100ms
         *            Motion Magic Cruise Velocity (in raw sensor units per 100 ms).
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for config
         *            success and report an error if it times out. If zero, no
         *            blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configMotionCruiseVelocity(double sensorUnitsPer100ms, int timeoutMs) {
                int retval = MotControllerJNI.ConfigMotionCruiseVelocity(m_handle, (int)sensorUnitsPer100ms, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Sets the Motion Magic Cruise Velocity. This is the peak target velocity
         * that the motion magic curve generator can use.
         *
         * @param sensorUnitsPer100ms
         *            Motion Magic Cruise Velocity (in raw sensor units per 100 ms).
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configMotionCruiseVelocity(double sensorUnitsPer100ms) {
                int timeoutMs = 0;
                return configMotionCruiseVelocity( sensorUnitsPer100ms,  timeoutMs);
        }

        /**
         * Sets the Motion Magic Acceleration. This is the target acceleration that
         * the motion magic curve generator can use.
         *
         * @param sensorUnitsPer100msPerSec
         *            Motion Magic Acceleration (in raw sensor units per 100 ms per
         *            second).
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for config
         *            success and report an error if it times out. If zero, no
         *            blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configMotionAcceleration(double sensorUnitsPer100msPerSec, int timeoutMs) {
                int retval = MotControllerJNI.ConfigMotionAcceleration(m_handle, (int)sensorUnitsPer100msPerSec, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Sets the Motion Magic Acceleration. This is the target acceleration that
         * the motion magic curve generator can use.
         *
         * @param sensorUnitsPer100msPerSec
         *            Motion Magic Acceleration (in raw sensor units per 100 ms per
         *            second).
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configMotionAcceleration(double sensorUnitsPer100msPerSec) {
                int timeoutMs = 0;
                return configMotionAcceleration( sensorUnitsPer100msPerSec,  timeoutMs);
        }

        /**
         * Sets the Motion Magic S Curve Strength.
         * Call this before using Motion Magic.
         * Modifying this during a Motion Magic action should be avoided.
         *
         * @param curveStrength
         *            0 to use Trapezoidal Motion Profile. [1,8] for S-Curve (greater value yields greater smoothing).
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for config
         *            success and report an error if it times out. If zero, no
         *            blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configMotionSCurveStrength(int curveStrength, int timeoutMs) {
                int retval = MotControllerJNI.ConfigMotionSCurveStrength(m_handle, curveStrength, timeoutMs);
                return ErrorCode.valueOf(retval);
        }

        /**
         * Sets the Motion Magic S Curve Strength.
         * Call this before using Motion Magic.
         * Modifying this during a Motion Magic action should be avoided.
         *
         * @param curveStrength
         *            0 to use Trapezoidal Motion Profile. [1,8] for S-Curve (greater value yields greater smoothing).
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configMotionSCurveStrength(int curveStrength) {
                int timeoutMs = 0;
                return configMotionSCurveStrength(curveStrength, timeoutMs);
        }

        //------ Motion Profile Buffer ----------//
        /**
         * Clear the buffered motion profile in both controller's RAM (bottom), and in the
         * API (top).
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode clearMotionProfileTrajectories() {
                int retval = MotControllerJNI.ClearMotionProfileTrajectories(m_handle);
                return ErrorCode.valueOf(retval);
        }

        /**
         * Retrieve just the buffer count for the api-level (top) buffer. This
         * routine performs no CAN or data structure lookups, so its fast and ideal
         * if caller needs to quickly poll the progress of trajectory points being
         * emptied into controller's RAM. Otherwise just use GetMotionProfileStatus.
         *
         * @return number of trajectory points in the top buffer.
         */
        public int getMotionProfileTopLevelBufferCount() {
                return MotControllerJNI.GetMotionProfileTopLevelBufferCount(m_handle);
        }
        /**
         * Push another trajectory point into the top level buffer (which is emptied
         * into the motor controller's bottom buffer as room allows).
         * @param trajPt to push into buffer.
         * The members should be filled in with these values...
         *
         *              targPos:  servo position in sensor units.
         *              targVel:  velocity to feed-forward in sensor units
         *                 per 100ms.
         *              profileSlotSelect0  Which slot to get PIDF gains. PID is used for position servo. F is used
         *                                                 as the Kv constant for velocity feed-forward. Typically this is hardcoded
         *                                                 to the a particular slot, but you are free gain schedule if need be.
         *                                                 Choose from [0,3]
         *              profileSlotSelect1 Which slot to get PIDF gains for auxiliary PId.
         *                                                 This only has impact during MotionProfileArc Control mode.
         *                                                 Choose from [0,1].
         *         isLastPoint  set to nonzero to signal motor controller to keep processing this
         *                     trajectory point, instead of jumping to the next one
         *                     when timeDurMs expires.  Otherwise MP executer will
         *                     eventually see an empty buffer after the last point
         *                     expires, causing it to assert the IsUnderRun flag.
         *                     However this may be desired if calling application
         *                     never wants to terminate the MP.
         *              zeroPos  set to nonzero to signal motor controller to "zero" the selected
         *                 position sensor before executing this trajectory point.
         *                 Typically the first point should have this set only thus
         *                 allowing the remainder of the MP positions to be relative to
         *                 zero.
         *              timeDur Duration to apply this trajectory pt.
         *                              This time unit is ADDED to the exising base time set by
         *                              configMotionProfileTrajectoryPeriod().
         * @return CTR_OKAY if trajectory point push ok. ErrorCode if buffer is
         *         full due to kMotionProfileTopBufferCapacity.
         */
        public ErrorCode pushMotionProfileTrajectory(TrajectoryPoint trajPt) {
                int retval = MotControllerJNI.PushMotionProfileTrajectory3(m_handle, trajPt.position, trajPt.velocity, trajPt.arbFeedFwd, trajPt.auxiliaryPos, trajPt.auxiliaryVel, trajPt.auxiliaryArbFeedFwd, trajPt.profileSlotSelect0, trajPt.profileSlotSelect1, trajPt.isLastPoint, trajPt.zeroPos, trajPt.timeDur, trajPt.useAuxPID);
                return ErrorCode.valueOf(retval);
        }

        /**
         * Simple one-shot firing of a complete MP.
         * Starting in 2019, MPs can be fired by building a Buffered Trajectory Point Stream, and calling this routine.
         *
         * Once called, the motor controller software will automatically ...
         * [1] Clear the firmware buffer of trajectory points.
         * [2] Clear the underrun flags
         * [3] Reset an index within the Buffered Trajectory Point Stream (so that the same profile can be run again and again).
         * [4] Start a background thread to manage MP streaming (if not already running).
         * [5a] If current control mode already matches motionProfControlMode, set MPE Output to "Hold".
         * [5b] If current control mode does not matches motionProfControlMode, apply motionProfControlMode and set MPE Output to "Disable".
         * [6] Stream the trajectory points into the device's firmware buffer.
         * [7] Once motor controller has at least minBufferedPts worth in the firmware buffer, MP will automatically start (MPE Output set to "Enable").
         * [8] Wait until MP finishes, then transitions the Motion Profile Executor's output to "Hold".
         * [9] IsMotionProfileFinished() will now return true.
         *
         * Calling application can use IsMotionProfileFinished() to determine when internal state machine reaches [7].
         * Calling application can cancel MP by calling set().  Otherwise do not call set() until MP has completed.
         *
         * The legacy API from previous years requires the calling application to pass points via the ProcessMotionProfileBuffer and PushMotionProfileTrajectory.
         * This is no longer required if using this StartMotionProfile/IsMotionProfileFinished API.
         *
         * @param stream        A buffer that will be used to stream the trajectory points.  Caller can fill this container with the entire trajectory point, regardless of size.
         * @param minBufferedPts        Minimum number of firmware buffered points before starting MP.
         *                                                      Do not exceed device's firmware buffer capacity or MP will never fire (120 for Motion Profile, or 60 for Motion Profile Arc).
         *                                                      Recommendation value for this would be five to ten samples depending on timeDur of the trajectory point.
         * @param motionProfControlMode         Pass MotionProfile or MotionProfileArc.
         * @return nonzero error code if operation fails.
     */
        public ErrorCode startMotionProfile(BufferedTrajectoryPointStream stream, int minBufferedPts, ControlMode motionProfControlMode) {
                int retval = MotControllerJNI.StartMotionProfile(m_handle, stream.getHandle(), minBufferedPts, motionProfControlMode.value);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Determine if running MP is complete.
         * This requires using the StartMotionProfile routine to start the MP.
         * That is because managing the trajectory points is now done in a background thread (if StartMotionProfile is called).
         *
         * If calling application uses the legacy API  (more-complex buffering API) from previous years, than this API will
         * not return true.
         *
         * @return true if MP was started using StartMotionProfile, and it has completed execution (MPE is now in "hold").
         */
        public boolean isMotionProfileFinished() {
                return MotControllerJNI.IsMotionProfileFinished(m_handle);
        }

        /**
         * Retrieve just the buffer full for the api-level (top) buffer. This
         * routine performs no CAN or data structure lookups, so its fast and ideal
         * if caller needs to quickly poll. Otherwise just use
         * GetMotionProfileStatus.
         *
         * @return number of trajectory points in the top buffer.
         */
        public boolean isMotionProfileTopLevelBufferFull() {
                return MotControllerJNI.IsMotionProfileTopLevelBufferFull(m_handle);
        }

        /**
         * This must be called periodically to funnel the trajectory points from the
         * API's top level buffer to the controller's bottom level buffer. Recommendation
         * is to call this twice as fast as the execution rate of the motion
         * profile. So if MP is running with 20ms trajectory points, try calling
         * this routine every 10ms. All motion profile functions are thread-safe
         * through the use of a mutex, so there is no harm in having the caller
         * utilize threading.
         */
        public void processMotionProfileBuffer() {
                MotControllerJNI.ProcessMotionProfileBuffer(m_handle);
        }
        /**
         * Retrieve all status information.
         * For best performance, Caller can snapshot all status information regarding the
         * motion profile executer.
         *
         * @param statusToFill  Caller supplied object to fill.
         *
         * The members are filled, as follows...
         *
         *      topBufferRem:   The available empty slots in the trajectory buffer.
         *                                      The robot API holds a "top buffer" of trajectory points, so your applicaion
         *                                      can dump several points at once.  The API will then stream them into the
         *                                      low-level buffer, allowing the motor controller to act on them.
         *
         *      topBufferRem: The number of points in the top trajectory buffer.
         *
         *      btmBufferCnt: The number of points in the low level controller buffer.
         *
         *      hasUnderrun:    Set if isUnderrun ever gets set.
         *                                      Can be manually cleared by clearMotionProfileHasUnderrun() or automatically cleared by startMotionProfile().
         *
         *      isUnderrun:             This is set if controller needs to shift a point from its buffer into
         *                                      the active trajectory point however
         *                                      the buffer is empty.
         *                                      This gets cleared automatically when is resolved.
         *
         *      activePointValid:       True if the active trajectory point is not empty, false otherwise. The members in activePoint are only valid if this signal is set.
         *
         *      isLast: is set/cleared based on the MP executer's current
         *                trajectory point's IsLast value.  This assumes
         *                IsLast was set when PushMotionProfileTrajectory
         *                was used to insert the currently processed trajectory
         *                point.
         *
         *      profileSlotSelect: The currently processed trajectory point's
         *                                selected slot.  This can differ in the currently selected slot used
         *                                       for Position and Velocity servo modes
         *
         *      outputEnable:           The current output mode of the motion profile
         *                                              executer (disabled, enabled, or hold).  When changing the set()
         *                                              value in MP mode, it's important to check this signal to
         *                                              confirm the change takes effect before interacting with the top buffer.
         *
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode getMotionProfileStatus(MotionProfileStatus statusToFill) {
                int retval = MotControllerJNI.GetMotionProfileStatus2(m_handle, _motionProfStats);
                statusToFill.topBufferRem = _motionProfStats[0];
                statusToFill.topBufferCnt = _motionProfStats[1];
                statusToFill.btmBufferCnt = _motionProfStats[2];
                statusToFill.hasUnderrun = _motionProfStats[3] != 0;
                statusToFill.isUnderrun = _motionProfStats[4] != 0;
                statusToFill.activePointValid = _motionProfStats[5] != 0;
                statusToFill.isLast = _motionProfStats[6] != 0;
                statusToFill.profileSlotSelect = _motionProfStats[7];
                statusToFill.outputEnable = SetValueMotionProfile.valueOf(_motionProfStats[8]);
                statusToFill.timeDurMs = _motionProfStats[9];
                statusToFill.profileSlotSelect1 = _motionProfStats[10];
                return ErrorCode.valueOf(retval);
        }

        /**
         * Clear the "Has Underrun" flag. Typically this is called after application
         * has confirmed an underrun had occured.
         *
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for config
         *            success and report an error if it times out. If zero, no
         *            blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode clearMotionProfileHasUnderrun(int timeoutMs) {
                int retval = MotControllerJNI.ClearMotionProfileHasUnderrun(m_handle, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Clear the "Has Underrun" flag. Typically this is called after application
         * has confirmed an underrun had occured.
         *
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode clearMotionProfileHasUnderrun() {
                int timeoutMs = 0;
                return clearMotionProfileHasUnderrun(timeoutMs);
        }

        /**
         * Calling application can opt to speed up the handshaking between the robot
         * API and the controller to increase the download rate of the controller's Motion
         * Profile. Ideally the period should be no more than half the period of a
         * trajectory point.
         *
         * @param periodMs
         *            The transmit period in ms.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode changeMotionControlFramePeriod(int periodMs) {
                int retval = MotControllerJNI.ChangeMotionControlFramePeriod(m_handle, periodMs);
                return ErrorCode.valueOf(retval);
        }

        /**
         * When trajectory points are processed in the motion profile executer, the MPE determines
         * how long to apply the active trajectory point by summing baseTrajDurationMs with the
         * timeDur of the trajectory point (see TrajectoryPoint).
         *
         * This allows general selection of the execution rate of the points with 1ms resolution,
         * while allowing some degree of change from point to point.
         * @param baseTrajDurationMs The base duration time of every trajectory point.
         *                                                      This is summed with the trajectory points unique timeDur.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configMotionProfileTrajectoryPeriod(int baseTrajDurationMs, int timeoutMs) {
                int retval = MotControllerJNI.ConfigMotionProfileTrajectoryPeriod(m_handle, baseTrajDurationMs, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * When trajectory points are processed in the motion profile executer, the MPE determines
         * how long to apply the active trajectory point by summing baseTrajDurationMs with the
         * timeDur of the trajectory point (see TrajectoryPoint).
         *
         * This allows general selection of the execution rate of the points with 1ms resolution,
         * while allowing some degree of change from point to point.
         * @param baseTrajDurationMs The base duration time of every trajectory point.
         *                                                      This is summed with the trajectory points unique timeDur.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configMotionProfileTrajectoryPeriod(int baseTrajDurationMs) {
                int timeoutMs = 0;
                return configMotionProfileTrajectoryPeriod( baseTrajDurationMs,  timeoutMs);
        }

        /**
         * When trajectory points are processed in the buffer, the motor controller can
         * linearly interpolate additional trajectory points between the buffered
         * points.  The time delta between these interpolated points is 1 ms.
         *
         * By default this feature is enabled.
         *
         * @param enable Whether to enable the trajectory point interpolation feature.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configMotionProfileTrajectoryInterpolationEnable(boolean enable, int timeoutMs) {
                int retval = MotControllerJNI.ConfigMotionProfileTrajectoryInterpolationEnable(m_handle, enable, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * When trajectory points are processed in the buffer, the motor controller can
         * linearly interpolate additional trajectory points between the buffered
         * points.  The time delta between these interpolated points is 1 ms.
         *
         * By default this feature is enabled.
         *
         * @param enable Whether to enable the trajectory point interpolation feature.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configMotionProfileTrajectoryInterpolationEnable(boolean enable) {
                int timeoutMs = 0;
                return configMotionProfileTrajectoryInterpolationEnable(enable, timeoutMs);
        }

    //------Feedback Device Interaction Settings---------//

    /**
     * Disables continuous tracking of the position for analog and pulse-width.
         * If the signal goes from 4095 to 0 (pulse-width) a motor controller will continue to read 4096 by default.
         * If overflow tracking is disabled, it will wrap to 0 (not continuous)
         *
         * If using pulse-width on CTRE Mag Encoder (within one rotation) or absolute analog sensor (within one rotation),
         * setting feedbackNotContinuous to true is recommended, to prevent intermittent
         * connections from causing sensor "jumps" of 4096 (or 1024 for analog) units.
     *
     * @param feedbackNotContinuous     True to disable the overflow tracking.
     *
     * @param timeoutMs
     *            Timeout value in ms. If nonzero, function will wait for
     *            config success and report an error if it times out.
     *            If zero, no blocking or checking is performed.
     * @return Error Code generated by function. 0 indicates no error.
     */
    public ErrorCode configFeedbackNotContinuous(boolean feedbackNotContinuous, int timeoutMs) {
        int retval = MotControllerJNI.ConfigFeedbackNotContinuous(m_handle, feedbackNotContinuous, timeoutMs);
        return ErrorCode.valueOf(retval);
    }

    /**
     * Disables going to neutral (brake/coast) when a remote sensor is no longer detected.
     *
     * @param remoteSensorClosedLoopDisableNeutralOnLOS     disable going to neutral
     *
     * @param timeoutMs
     *            Timeout value in ms. If nonzero, function will wait for
     *            config success and report an error if it times out.
     *            If zero, no blocking or checking is performed.
     * @return Error Code generated by function. 0 indicates no error.
     */
    public ErrorCode configRemoteSensorClosedLoopDisableNeutralOnLOS(boolean remoteSensorClosedLoopDisableNeutralOnLOS, int timeoutMs) {
        int retval = MotControllerJNI.ConfigRemoteSensorClosedLoopDisableNeutralOnLOS(m_handle, remoteSensorClosedLoopDisableNeutralOnLOS, timeoutMs);
        return ErrorCode.valueOf(retval);
    }
    /**
     * Enables clearing the position of the feedback sensor when the forward
     * limit switch is triggered.
     *
     * @param clearPositionOnLimitF     Whether clearing is enabled, defaults false
     * @param timeoutMs
     *            Timeout value in ms. If nonzero, function will wait for
     *            config success and report an error if it times out.
     *            If zero, no blocking or checking is performed.
     * @return Error Code generated by function. 0 indicates no error.
     */
    public ErrorCode configClearPositionOnLimitF(boolean clearPositionOnLimitF, int timeoutMs) {
        int retval = MotControllerJNI.ConfigClearPositionOnLimitF(m_handle, clearPositionOnLimitF, timeoutMs);
        return ErrorCode.valueOf(retval);
    }

    /**
     * Enables clearing the position of the feedback sensor when the reverse
     * limit switch is triggered
     *
     * @param clearPositionOnLimitR     Whether clearing is enabled, defaults false
     * @param timeoutMs
     *            Timeout value in ms. If nonzero, function will wait for
     *            config success and report an error if it times out.
     *            If zero, no blocking or checking is performed.
     * @return Error Code generated by function. 0 indicates no error.
     */
    public ErrorCode configClearPositionOnLimitR(boolean clearPositionOnLimitR, int timeoutMs) {
        int retval = MotControllerJNI.ConfigClearPositionOnLimitR(m_handle, clearPositionOnLimitR, timeoutMs);
        return ErrorCode.valueOf(retval);
    }

    /**
     * Enables clearing the position of the feedback sensor when the quadrature index signal
     * is detected
     *
     * @param clearPositionOnQuadIdx    Whether clearing is enabled, defaults false
     * @param timeoutMs
     *            Timeout value in ms. If nonzero, function will wait for
     *            config success and report an error if it times out.
     *            If zero, no blocking or checking is performed.
     * @return Error Code generated by function. 0 indicates no error.
     */
    public ErrorCode configClearPositionOnQuadIdx(boolean clearPositionOnQuadIdx, int timeoutMs) {
        int retval = MotControllerJNI.ConfigClearPositionOnQuadIdx(m_handle, clearPositionOnQuadIdx, timeoutMs);
        return ErrorCode.valueOf(retval);
    }

    /**
     * Disables limit switches triggering (if enabled) when the sensor is no longer detected.
     *
     * @param limitSwitchDisableNeutralOnLOS    disable triggering
     *
     * @param timeoutMs
     *            Timeout value in ms. If nonzero, function will wait for
     *            config success and report an error if it times out.
     *            If zero, no blocking or checking is performed.
     * @return Error Code generated by function. 0 indicates no error.
     */
    public ErrorCode configLimitSwitchDisableNeutralOnLOS(boolean limitSwitchDisableNeutralOnLOS, int timeoutMs) {
        int retval = MotControllerJNI.ConfigLimitSwitchDisableNeutralOnLOS(m_handle, limitSwitchDisableNeutralOnLOS, timeoutMs);
        return ErrorCode.valueOf(retval);
    }

    /**
     * Disables soft limits triggering (if enabled) when the sensor is no longer detected.
     *
     * @param softLimitDisableNeutralOnLOS    disable triggering
     *
     * @param timeoutMs
     *            Timeout value in ms. If nonzero, function will wait for
     *            config success and report an error if it times out.
     *            If zero, no blocking or checking is performed.
     * @return Error Code generated by function. 0 indicates no error.
     */
    public ErrorCode configSoftLimitDisableNeutralOnLOS(boolean softLimitDisableNeutralOnLOS, int timeoutMs) {
        int retval = MotControllerJNI.ConfigSoftLimitDisableNeutralOnLOS(m_handle, softLimitDisableNeutralOnLOS, timeoutMs);
        return ErrorCode.valueOf(retval);
    }

    /**
     * Sets the edges per rotation of a pulse width sensor. (This should be set for
     * tachometer use).
     *
     * @param pulseWidthPeriod_EdgesPerRot    edges per rotation
     *
     * @param timeoutMs
     *            Timeout value in ms. If nonzero, function will wait for
     *            config success and report an error if it times out.
     *            If zero, no blocking or checking is performed.
     * @return Error Code generated by function. 0 indicates no error.
     */
    public ErrorCode configPulseWidthPeriod_EdgesPerRot(int pulseWidthPeriod_EdgesPerRot, int timeoutMs) {
        int retval = MotControllerJNI.ConfigPulseWidthPeriod_EdgesPerRot(m_handle, pulseWidthPeriod_EdgesPerRot, timeoutMs);
        return ErrorCode.valueOf(retval);
    }

    /**
     * Sets the number of samples to use in smoothing a pulse width sensor with a rolling
     * average. Default is 1 (no smoothing).
     *
     * @param pulseWidthPeriod_FilterWindowSz   samples for rolling avg
     *
     * @param timeoutMs
     *            Timeout value in ms. If nonzero, function will wait for
     *            config success and report an error if it times out.
     *            If zero, no blocking or checking is performed.
     * @return Error Code generated by function. 0 indicates no error.
     */
    public ErrorCode configPulseWidthPeriod_FilterWindowSz(int pulseWidthPeriod_FilterWindowSz, int timeoutMs) {
        int retval = MotControllerJNI.ConfigPulseWidthPeriod_FilterWindowSz(m_handle, pulseWidthPeriod_FilterWindowSz, timeoutMs);
        return ErrorCode.valueOf(retval);
    }
        // ------ error ----------//
        /**
         * Gets the last error generated by this object. Not all functions return an
         * error code but can potentially report errors. This function can be used
         * to retrieve those error codes.
         *
         * @return Last Error Code generated by a function.
         */
        public ErrorCode getLastError() {
                int retval = MotControllerJNI.GetLastError(m_handle);
                return ErrorCode.valueOf(retval);
        }

        // ------ Faults ----------//
        /**
         * Polls the various fault flags.
         *
         * @param toFill
         *            Caller's object to fill with latest fault flags.
         * @return Last Error Code generated by a function.
         */
        public ErrorCode getFaults(Faults toFill) {
                int bits = MotControllerJNI.GetFaults(m_handle);
                toFill.update(bits);
                return getLastError();
        }

        /**
         * Polls the various sticky fault flags.
         *
         * @param toFill
         *            Caller's object to fill with latest sticky fault flags.
         * @return Last Error Code generated by a function.
         */
        public ErrorCode getStickyFaults(StickyFaults toFill) {
                int bits = MotControllerJNI.GetStickyFaults(m_handle);
                toFill.update(bits);
                return getLastError();
        }

        /**
         * Clears all sticky faults.
         *
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for config
         *            success and report an error if it times out. If zero, no
         *            blocking or checking is performed.
         * @return Last Error Code generated by a function.
         */
        public ErrorCode clearStickyFaults(int timeoutMs) {
                int retval = MotControllerJNI.ClearStickyFaults(m_handle, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Clears all sticky faults.
         *
         * @return Last Error Code generated by a function.
         */
        public ErrorCode clearStickyFaults() {
                int timeoutMs = 0;
                return clearStickyFaults(timeoutMs);
        }

        // ------ Firmware ----------//
        /**
         * Gets the firmware version of the device.
         *
         * @return Firmware version of device. For example: version 1-dot-2 is
         *         0x0102.
         */
        public int getFirmwareVersion() {
                return MotControllerJNI.GetFirmwareVersion(m_handle);
        }

        /**
         * Returns true if the device has reset since last call.
         *
         * @return Has a Device Reset Occurred?
         */
        public boolean hasResetOccurred() {
                return MotControllerJNI.HasResetOccurred(m_handle);
        }

        //------ Custom Persistent Params ----------//
        /**
         * Sets the value of a custom parameter. This is for arbitrary use.
         *
         * Sometimes it is necessary to save calibration/limit/target information in
         * the device. Particularly if the device is part of a subsystem that can be
         * replaced.
         *
         * @param newValue
         *            Value for custom parameter.
         * @param paramIndex
         *            Index of custom parameter [0,1]
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for config
         *            success and report an error if it times out. If zero, no
         *            blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configSetCustomParam(int newValue, int paramIndex, int timeoutMs) {
                int retval = MotControllerJNI.ConfigSetCustomParam(m_handle, newValue, paramIndex, timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Sets the value of a custom parameter. This is for arbitrary use.
         *
         * Sometimes it is necessary to save calibration/limit/target information in
         * the device. Particularly if the device is part of a subsystem that can be
         * replaced.
         *
         * @param newValue
         *            Value for custom parameter.
         * @param paramIndex
         *            Index of custom parameter [0,1]
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configSetCustomParam(int newValue, int paramIndex) {
                int timeoutMs = 0;
                return configSetCustomParam( newValue,  paramIndex,  timeoutMs);
        }

        /**
         * Gets the value of a custom parameter.
         *
         * @param paramIndex
         *            Index of custom parameter [0,1].
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for config
         *            success and report an error if it times out. If zero, no
         *            blocking or checking is performed.
         * @return Value of the custom param.
         */
        public int configGetCustomParam(int paramIndex, int timeoutMs) {
                int retval = MotControllerJNI.ConfigGetCustomParam(m_handle, paramIndex, timeoutMs);
                return retval;
        }
        /**
         * Gets the value of a custom parameter.
         *
         * @param paramIndex
         *            Index of custom parameter [0,1].
         * @return Value of the custom param.
         */
        public int configGetCustomParam(int paramIndex) {
                int timeoutMs = 0;
                return configGetCustomParam( paramIndex,  timeoutMs);
        }

        // ------ Generic Param API ----------//
        /**
         * Sets a parameter. Generally this is not used. This can be utilized in -
         * Using new features without updating API installation. - Errata
         * workarounds to circumvent API implementation. - Allows for rapid testing
         * / unit testing of firmware.
         *
         * @param param
         *            Parameter enumeration.
         * @param value
         *            Value of parameter.
         * @param subValue
         *            Subvalue for parameter. Maximum value of 255.
         * @param ordinal
         *            Ordinal of parameter.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for config
         *            success and report an error if it times out. If zero, no
         *            blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configSetParameter(ParamEnum param, double value, int subValue, int ordinal, int timeoutMs) {
                return configSetParameter(param.value, value, subValue, ordinal, timeoutMs);
        }
        /**
         * Sets a parameter. Generally this is not used. This can be utilized in -
         * Using new features without updating API installation. - Errata
         * workarounds to circumvent API implementation. - Allows for rapid testing
         * / unit testing of firmware.
         *
         * @param param
         *            Parameter enumeration.
         * @param value
         *            Value of parameter.
         * @param subValue
         *            Subvalue for parameter. Maximum value of 255.
         * @param ordinal
         *            Ordinal of parameter.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configSetParameter(ParamEnum param, double value, int subValue, int ordinal) {
                int timeoutMs = 0;
                return configSetParameter(param, value,  subValue,  ordinal,  timeoutMs);
        }
        /**
         * Sets a parameter.
         *
         * @param param
         *            Parameter enumeration.
         * @param value
         *            Value of parameter.
         * @param subValue
         *            Subvalue for parameter. Maximum value of 255.
         * @param ordinal
         *            Ordinal of parameter.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configSetParameter(int param, double value, int subValue, int ordinal, int timeoutMs) {
                int retval = MotControllerJNI.ConfigSetParameter(m_handle, param,  value, subValue, ordinal,
                                timeoutMs);
                return ErrorCode.valueOf(retval);
        }
        /**
         * Sets a parameter.
         *
         * @param param
         *            Parameter enumeration.
         * @param value
         *            Value of parameter.
         * @param subValue
         *            Subvalue for parameter. Maximum value of 255.
         * @param ordinal
         *            Ordinal of parameter.
         * @return Error Code generated by function. 0 indicates no error.
         */
        public ErrorCode configSetParameter(int param, double value, int subValue, int ordinal) {
                int timeoutMs = 0;
                return configSetParameter( param,  value,  subValue,  ordinal,  timeoutMs);
        }
        /**
         * Gets a parameter.
         *
         * @param param
         *            Parameter enumeration.
         * @param ordinal
         *            Ordinal of parameter.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Value of parameter.
         */
        public double configGetParameter(ParamEnum param, int ordinal, int timeoutMs) {
                return configGetParameter(param.value, ordinal, timeoutMs);
        }
        /**
         * Gets a parameter.
         *
         * @param param
         *            Parameter enumeration.
         * @param ordinal
         *            Ordinal of parameter.
         * @return Value of parameter.
         */
        public double configGetParameter(ParamEnum param, int ordinal) {
                int timeoutMs = 0;
                return configGetParameter(param, ordinal, timeoutMs);
        }
        /**
         * Gets a parameter.
         *
         * @param param
         *            Parameter enumeration.
         * @param ordinal
         *            Ordinal of parameter.
         * @param timeoutMs
         *            Timeout value in ms. If nonzero, function will wait for
         *            config success and report an error if it times out.
         *            If zero, no blocking or checking is performed.
         * @return Value of parameter.
         */
        public double configGetParameter(int param, int ordinal, int timeoutMs) {
                return MotControllerJNI.ConfigGetParameter(m_handle, param, ordinal, timeoutMs);
        }
        /**
         * Gets a parameter.
         *
         * @param param
         *            Parameter enumeration.
         * @param ordinal
         *            Ordinal of parameter.
         * @return Value of parameter.
         */
        public double configGetParameter(int param, int ordinal) {
                int timeoutMs = 0;
                return configGetParameter( param,  ordinal,  timeoutMs);
        }

        // ------ Misc. ----------//
        public int getBaseID() {
                return MotControllerJNI.GetBaseID(m_handle);
        }

        /**
         * @return control mode motor controller is in
         */
        public ControlMode getControlMode() {
                return m_controlMode;
        }

        // ----- Follower ------//
        /**
         * Set the control mode and output value so that this motor controller will
         * follow another motor controller. Currently supports following Victor SPX,
         * Talon SRX, and Talon FX.
         *
         * @param masterToFollow
         *                                              Motor Controller object to follow.
         * @param followerType
         *                                              Type of following control.  Use AuxOutput1 to follow the master
         *                                              device's auxiliary output 1.
         *                                              Use PercentOutput for standard follower mode.
         */
        public void follow(IMotorController masterToFollow, FollowerType followerType) {
                int id32 = masterToFollow.getBaseID();
                int id24 = id32;
                id24 >>= 16;
                id24 = (short) id24;
                id24 <<= 8;
                id24 |= (id32 & 0xFF);

                switch (followerType){
                        case PercentOutput:
                                set(ControlMode.Follower, (double)id24);
                                break;
                        case AuxOutput1:
                          /* follow the motor controller, but set the aux flag
                     * to ensure we follow the processed output */
                          set(ControlMode.Follower, (double)id24, DemandType.AuxPID, 0);
                                break;
                        default:
                          neutralOutput();
                                break;
                }
        }
        /**
         * Set the control mode and output value so that this motor controller will
         * follow another motor controller. Currently supports following Victor SPX,
         * Talon SRX, and Talon FX.
         *
         * @param masterToFollow Motor Controller to follow
         */
        public void follow(IMotorController masterToFollow) {
    follow(masterToFollow, FollowerType.PercentOutput);
        }
        /**
         * When master makes a device, this routine is called to signal the update.
         */
        public void valueUpdated() {
                // MT
        }

    //------Config All------//

    /**
     * Configures all base persistant settings.
     *
         * @param allConfigs        Object with all of the base persistant settings
     * @param timeoutMs
     *              Timeout value in ms. If nonzero, function will wait for
     *              config success and report an error if it times out.
     *              If zero, no blocking or checking is performed.
     *
     * @return Error Code generated by function. 0 indicates no error.
     */
    protected ErrorCode baseConfigAllSettings(BaseMotorControllerConfiguration allConfigs, int timeoutMs) {


        ErrorCollection errorCollection = new ErrorCollection();

        errorCollection.NewError(configFactoryDefault(timeoutMs));

        if(BaseMotorControllerUtil.openloopRampDifferent(allConfigs)) errorCollection.NewError(configOpenloopRamp(allConfigs.openloopRamp, timeoutMs));
                if(BaseMotorControllerUtil.closedloopRampDifferent(allConfigs)) errorCollection.NewError(configClosedloopRamp(allConfigs.closedloopRamp, timeoutMs));
                if(BaseMotorControllerUtil.peakOutputForwardDifferent(allConfigs)) errorCollection.NewError(configPeakOutputForward(allConfigs.peakOutputForward, timeoutMs));
                if(BaseMotorControllerUtil.peakOutputReverseDifferent(allConfigs)) errorCollection.NewError(configPeakOutputReverse(allConfigs.peakOutputReverse, timeoutMs));
                if(BaseMotorControllerUtil.nominalOutputForwardDifferent(allConfigs)) errorCollection.NewError(configNominalOutputForward(allConfigs.nominalOutputForward, timeoutMs));
                if(BaseMotorControllerUtil.nominalOutputReverseDifferent(allConfigs)) errorCollection.NewError(configNominalOutputReverse(allConfigs.nominalOutputReverse, timeoutMs));
                if(BaseMotorControllerUtil.neutralDeadbandDifferent(allConfigs)) errorCollection.NewError(configNeutralDeadband(allConfigs.neutralDeadband, timeoutMs));
                if(BaseMotorControllerUtil.voltageCompSaturationDifferent(allConfigs)) errorCollection.NewError(configVoltageCompSaturation(allConfigs.voltageCompSaturation, timeoutMs));
                if(BaseMotorControllerUtil.voltageMeasurementFilterDifferent(allConfigs)) errorCollection.NewError(configVoltageMeasurementFilter(allConfigs.voltageMeasurementFilter, timeoutMs));
                if(BaseMotorControllerUtil.velocityMeasurementPeriodDifferent(allConfigs)) errorCollection.NewError(configVelocityMeasurementPeriod(allConfigs.velocityMeasurementPeriod, timeoutMs));
                if(BaseMotorControllerUtil.velocityMeasurementWindowDifferent(allConfigs)) errorCollection.NewError(configVelocityMeasurementWindow(allConfigs.velocityMeasurementWindow, timeoutMs));
                if(BaseMotorControllerUtil.forwardSoftLimitThresholdDifferent(allConfigs)) errorCollection.NewError(configForwardSoftLimitThreshold(allConfigs.forwardSoftLimitThreshold, timeoutMs));
                if(BaseMotorControllerUtil.reverseSoftLimitThresholdDifferent(allConfigs)) errorCollection.NewError(configReverseSoftLimitThreshold(allConfigs.reverseSoftLimitThreshold, timeoutMs));
                if(BaseMotorControllerUtil.forwardSoftLimitEnableDifferent(allConfigs)) errorCollection.NewError(configForwardSoftLimitEnable(allConfigs.forwardSoftLimitEnable, timeoutMs));
                if(BaseMotorControllerUtil.reverseSoftLimitEnableDifferent(allConfigs)) errorCollection.NewError(configReverseSoftLimitEnable(allConfigs.reverseSoftLimitEnable, timeoutMs));
                if(BaseMotorControllerUtil.auxPIDPolarityDifferent(allConfigs)) errorCollection.NewError(configAuxPIDPolarity(allConfigs.auxPIDPolarity, timeoutMs));
                if(BaseMotorControllerUtil.motionCruiseVelocityDifferent(allConfigs)) errorCollection.NewError(configMotionCruiseVelocity(allConfigs.motionCruiseVelocity, timeoutMs));
                if(BaseMotorControllerUtil.motionAccelerationDifferent(allConfigs)) errorCollection.NewError(configMotionAcceleration(allConfigs.motionAcceleration, timeoutMs));
                if(BaseMotorControllerUtil.motionSCurveStrength(allConfigs)) errorCollection.NewError(configMotionSCurveStrength(allConfigs.motionCurveStrength, timeoutMs));
                if(BaseMotorControllerUtil.motionProfileTrajectoryPeriodDifferent(allConfigs)) errorCollection.NewError(configMotionProfileTrajectoryPeriod(allConfigs.motionProfileTrajectoryPeriod, timeoutMs));
                if(BaseMotorControllerUtil.feedbackNotContinuousDifferent(allConfigs)) errorCollection.NewError(configFeedbackNotContinuous(allConfigs.feedbackNotContinuous, timeoutMs));
                if(BaseMotorControllerUtil.remoteSensorClosedLoopDisableNeutralOnLOSDifferent(allConfigs)) errorCollection.NewError(configRemoteSensorClosedLoopDisableNeutralOnLOS(allConfigs.remoteSensorClosedLoopDisableNeutralOnLOS, timeoutMs));
                if(BaseMotorControllerUtil.clearPositionOnLimitFDifferent(allConfigs)) errorCollection.NewError(configClearPositionOnLimitF(allConfigs.clearPositionOnLimitF, timeoutMs));
                if(BaseMotorControllerUtil.clearPositionOnLimitRDifferent(allConfigs)) errorCollection.NewError(configClearPositionOnLimitR(allConfigs.clearPositionOnLimitR, timeoutMs));
                if(BaseMotorControllerUtil.clearPositionOnQuadIdxDifferent(allConfigs)) errorCollection.NewError(configClearPositionOnQuadIdx(allConfigs.clearPositionOnQuadIdx, timeoutMs));
                if(BaseMotorControllerUtil.limitSwitchDisableNeutralOnLOSDifferent(allConfigs)) errorCollection.NewError(configLimitSwitchDisableNeutralOnLOS(allConfigs.limitSwitchDisableNeutralOnLOS, timeoutMs));
                if(BaseMotorControllerUtil.softLimitDisableNeutralOnLOSDifferent(allConfigs)) errorCollection.NewError(configSoftLimitDisableNeutralOnLOS(allConfigs.softLimitDisableNeutralOnLOS, timeoutMs));
                if(BaseMotorControllerUtil.pulseWidthPeriod_EdgesPerRotDifferent(allConfigs)) errorCollection.NewError(configPulseWidthPeriod_EdgesPerRot(allConfigs.pulseWidthPeriod_EdgesPerRot, timeoutMs));
                if(BaseMotorControllerUtil.pulseWidthPeriod_FilterWindowSzDifferent(allConfigs)) errorCollection.NewError(configPulseWidthPeriod_FilterWindowSz(allConfigs.pulseWidthPeriod_FilterWindowSz, timeoutMs));
                if(BaseMotorControllerUtil.trajectoryInterpolationEnableDifferent(allConfigs)) errorCollection.NewError(configMotionProfileTrajectoryInterpolationEnable(allConfigs.trajectoryInterpolationEnable, timeoutMs));

                //Custom Parameters
                if(BaseMotorControllerUtil.customParam0Different(allConfigs)) errorCollection.NewError(configSetCustomParam(allConfigs.customParam0, 0, timeoutMs));
                if(BaseMotorControllerUtil.customParam1Different(allConfigs)) errorCollection.NewError(configSetCustomParam(allConfigs.customParam1, 1, timeoutMs));

        //--------Slots---------------//
        errorCollection.NewError(configureSlotPrivate(allConfigs.slot0, 0, timeoutMs, allConfigs.enableOptimizations));
        errorCollection.NewError(configureSlotPrivate(allConfigs.slot1, 1, timeoutMs, allConfigs.enableOptimizations));
        errorCollection.NewError(configureSlotPrivate(allConfigs.slot2, 2, timeoutMs, allConfigs.enableOptimizations));
        errorCollection.NewError(configureSlotPrivate(allConfigs.slot3, 3, timeoutMs, allConfigs.enableOptimizations));

        //----------Remote Feedback Filters----------//
                errorCollection.NewError(configureFilter(allConfigs.remoteFilter0, 0, timeoutMs, allConfigs.enableOptimizations));
        errorCollection.NewError(configureFilter(allConfigs.remoteFilter1, 1, timeoutMs, allConfigs.enableOptimizations));

        return errorCollection._worstError;
    }


    private ErrorCode configureSlotPrivate( SlotConfiguration slot, int slotIdx, int timeoutMs, boolean enableOptimization) {

        ErrorCollection errorCollection = new ErrorCollection();
        //------ General Close loop ----------//



                if(SlotConfigurationUtil.kPDifferent(slot) || !enableOptimization) errorCollection.NewError(config_kP(slotIdx, slot.kP, timeoutMs));
                if(SlotConfigurationUtil.kIDifferent(slot) || !enableOptimization) errorCollection.NewError(config_kI(slotIdx, slot.kI, timeoutMs));
                if(SlotConfigurationUtil.kDDifferent(slot) || !enableOptimization) errorCollection.NewError(config_kD(slotIdx, slot.kD, timeoutMs));
                if(SlotConfigurationUtil.kFDifferent(slot) || !enableOptimization) errorCollection.NewError(config_kF(slotIdx, slot.kF, timeoutMs));
                if(SlotConfigurationUtil.integralZoneDifferent(slot) || !enableOptimization) errorCollection.NewError(config_IntegralZone(slotIdx, slot.integralZone, timeoutMs));
                if(SlotConfigurationUtil.allowableClosedloopErrorDifferent(slot) || !enableOptimization) errorCollection.NewError(configAllowableClosedloopError(slotIdx, slot.allowableClosedloopError, timeoutMs));
                if(SlotConfigurationUtil.maxIntegralAccumulatorDifferent(slot) || !enableOptimization) errorCollection.NewError(configMaxIntegralAccumulator(slotIdx, slot.maxIntegralAccumulator, timeoutMs));
                if(SlotConfigurationUtil.closedLoopPeakOutputDifferent(slot) || !enableOptimization) errorCollection.NewError(configClosedLoopPeakOutput(slotIdx, slot.closedLoopPeakOutput, timeoutMs));
                if(SlotConfigurationUtil.closedLoopPeriodDifferent(slot) || !enableOptimization) errorCollection.NewError(configClosedLoopPeriod(slotIdx, slot.closedLoopPeriod, timeoutMs));

        return errorCollection._worstError;

    }


    /**
     * Configures all slot persistant settings (overloaded so timeoutMs is 50 ms
     * and slotIdx is 0
     *
         * @param slot        Object with all of the slot persistant settings
     *
     * @return Error Code generated by function. 0 indicates no error.
     */
    public ErrorCode configureSlot( SlotConfiguration slot) {
        int slotIdx = 0;
        int timeoutMs = 50;
        return configureSlotPrivate(slot, slotIdx, timeoutMs, false);
        }
        /**
     * Configures all slot persistant settings
     *
         * @param slot        Object with all of the slot persistant settings
         * @param slotIdx         Index of slot to configure
         * @param timeoutMs
     *              Timeout value in ms. If nonzero, function will wait for
     *              config success and report an error if it times out.
     *              If zero, no blocking or checking is performed.
     *
     * @return Error Code generated by function. 0 indicates no error.
     */
    public ErrorCode configureSlot( SlotConfiguration slot, int slotIdx, int timeoutMs) {
        return configureSlotPrivate(slot, slotIdx, timeoutMs, false);
    }
    /**
     * Gets all slot persistant settings.
     *
         * @param slot        Object with all of the slot persistant settings
         * @param slotIdx     Parameter slot for the constant.
     * @param timeoutMs
     *              Timeout value in ms. If nonzero, function will wait for
     *              config success and report an error if it times out.
     *              If zero, no blocking or checking is performed.
     */
    public void getSlotConfigs(SlotConfiguration slot, int slotIdx, int timeoutMs) {
        slot.kP = (double) configGetParameter(ParamEnum.eProfileParamSlot_P, slotIdx, timeoutMs);
        slot.kI = (double) configGetParameter(ParamEnum.eProfileParamSlot_I, slotIdx, timeoutMs);
        slot.kD = (double) configGetParameter(ParamEnum.eProfileParamSlot_D, slotIdx, timeoutMs);
        slot.kF = (double) configGetParameter(ParamEnum.eProfileParamSlot_F, slotIdx, timeoutMs);
        slot.integralZone = (int) configGetParameter(ParamEnum.eProfileParamSlot_IZone, slotIdx, timeoutMs);
        slot.allowableClosedloopError = (int) configGetParameter(ParamEnum.eProfileParamSlot_AllowableErr, slotIdx, timeoutMs);
        slot.maxIntegralAccumulator = (double) configGetParameter(ParamEnum.eProfileParamSlot_MaxIAccum, slotIdx, timeoutMs);
        slot.closedLoopPeakOutput = (double) configGetParameter(ParamEnum.eProfileParamSlot_PeakOutput, slotIdx, timeoutMs);
        slot.closedLoopPeriod = (int) configGetParameter(ParamEnum.ePIDLoopPeriod, slotIdx, timeoutMs);
    }
    /**
     * Gets all slot persistant settings (overloaded so timeoutMs is 50 ms
     * and slotIdx is 0
     *
         * @param slot        Object with all of the slot persistant settings
     */
    public void getSlotConfigs( SlotConfiguration slot) {
        int slotIdx = 0;
        int timeoutMs = 50;
        getSlotConfigs(slot, slotIdx, timeoutMs);
    }


    /**
     * Configures all filter persistant settings.
     *
         * @deprecated Use the 3-parameter configureFilter.  4-param version is deprecated and will be removed.
         * @param filter        Object with all of the filter persistant settings
     * @param ordinal       0 for remote sensor 0 and 1 for remote sensor 1.
     * @param timeoutMs
     *              Timeout value in ms. If nonzero, function will wait for
     *              config success and report an error if it times out.
     *              If zero, no blocking or checking is performed.
         * @param enableOptimizations   Enable the optimization technique
     *
     * @return Error Code generated by function. 0 indicates no error.
     */
        @Deprecated
    public ErrorCode configureFilter( FilterConfiguration filter, int ordinal, int timeoutMs, boolean enableOptimizations) {
                if(FilterConfigUtil.filterConfigurationDifferent(filter) || !enableOptimizations)
                        return configRemoteFeedbackFilter(filter.remoteSensorDeviceID, filter.remoteSensorSource, ordinal, timeoutMs);

                return ErrorCode.OK;
        }
        /**
     * Configures all filter persistant settings.
     *
         * @deprecated Use configAll instead.
         * @param filter        Object with all of the filter persistant settings
     * @param ordinal       0 for remote sensor 0 and 1 for remote sensor 1.
     * @param timeoutMs
     *              Timeout value in ms. If nonzero, function will wait for
     *              config success and report an error if it times out.
     *              If zero, no blocking or checking is performed.
     *
     * @return Error Code generated by function. 0 indicates no error.
     */
        @Deprecated
    public ErrorCode configureFilter( FilterConfiguration filter, int ordinal, int timeoutMs) {
                return configureFilter(filter, ordinal, timeoutMs, false);
    }
    /**
     * Configures all filter persistant settings (overloaded so timeoutMs is 50 ms
     * and ordinal is 0).
     *
         * @deprecated Use configAll instead.
         * @param filter        Object with all of the filter persistant settings
     *
     * @return Error Code generated by function. 0 indicates no error.
     */
        @Deprecated
    public ErrorCode configureFilter( FilterConfiguration filter) {
        int ordinal = 0;
        int timeoutMs = 50;
        return configureFilter(filter, ordinal, timeoutMs, false);
    }

    /**
     * Gets all filter persistant settings.
     *
         * @param filter        Object with all of the filter persistant settings
     * @param ordinal       0 for remote sensor 0 and 1 for remote sensor 1.
     * @param timeoutMs
     *              Timeout value in ms. If nonzero, function will wait for
     *              config success and report an error if it times out.
     *              If zero, no blocking or checking is performed.
     */
    public void getFilterConfigs(FilterConfiguration filter, int ordinal, int timeoutMs) {

        filter.remoteSensorDeviceID = (int) configGetParameter(ParamEnum.eRemoteSensorDeviceID, ordinal, timeoutMs);
        filter.remoteSensorSource = RemoteSensorSource.valueOf(configGetParameter(ParamEnum.eRemoteSensorSource, ordinal, timeoutMs));

    }
    /**
     * Gets all filter persistant settings (overloaded so timeoutMs is 50 ms
     * and ordinal is 0).
     *
         * @param filter        Object with all of the filter persistant settings
     */
    public void getFilterConfigs(FilterConfiguration filter) {
        int ordinal = 0;
        int timeoutMs = 50;
        getFilterConfigs(filter, ordinal, timeoutMs);
    }
    /**
     * Configures all base PID set persistant settings.
     *
         * @param pid           Object with all of the base PID set persistant settings
     * @param pidIdx        0 for Primary closed-loop. 1 for auxiliary closed-loop.
     * @param timeoutMs
     *              Timeout value in ms. If nonzero, function will wait for
     *              config success and report an error if it times out.
     *              If zero, no blocking or checking is performed.
     *
     * @return Error Code generated by function. 0 indicates no error.
     */
    protected ErrorCode baseConfigurePID(BasePIDSetConfiguration pid, int pidIdx, int timeoutMs) {

        return configSelectedFeedbackCoefficient(pid.selectedFeedbackCoefficient, pidIdx, timeoutMs);

    }
    /**
     * Gets all base PID set persistant settings.
     *
         * @param pid           Object with all of the base PID set persistant settings
     * @param pidIdx        0 for Primary closed-loop. 1 for auxiliary closed-loop.
     * @param timeoutMs
     *              Timeout value in ms. If nonzero, function will wait for
     *              config success and report an error if it times out.
     *              If zero, no blocking or checking is performed.
     */
    protected void baseGetPIDConfigs(BasePIDSetConfiguration pid, int pidIdx, int timeoutMs) {

        pid.selectedFeedbackCoefficient = (double) configGetParameter(ParamEnum.eSelectedSensorCoefficient, pidIdx, timeoutMs);

    }
    /**
     * Gets all base persistant settings.
     *
         * @param allConfigs        Object with all of the base persistant settings
     * @param timeoutMs
     *              Timeout value in ms. If nonzero, function will wait for
     *              config success and report an error if it times out.
     *              If zero, no blocking or checking is performed.
     */
    protected void baseGetAllConfigs(BaseMotorControllerConfiguration allConfigs, int timeoutMs) {


        allConfigs.openloopRamp = (double) configGetParameter(ParamEnum.eOpenloopRamp, 0, timeoutMs);
        allConfigs.closedloopRamp = (double) configGetParameter(ParamEnum.eClosedloopRamp, 0, timeoutMs);
        allConfigs.peakOutputForward = (double) configGetParameter(ParamEnum.ePeakPosOutput, 0, timeoutMs);
        allConfigs.peakOutputReverse = (double) configGetParameter(ParamEnum.ePeakNegOutput, 0, timeoutMs);
        allConfigs.nominalOutputForward = (double) configGetParameter(ParamEnum.eNominalPosOutput, 0, timeoutMs);
        allConfigs.nominalOutputReverse = (double) configGetParameter(ParamEnum.eNominalNegOutput, 0, timeoutMs);
        allConfigs.neutralDeadband = (double) configGetParameter(ParamEnum.eNeutralDeadband, 0, timeoutMs);
        allConfigs.voltageCompSaturation = (double) configGetParameter(ParamEnum.eNominalBatteryVoltage, 0, timeoutMs);
        allConfigs.voltageMeasurementFilter = (int) configGetParameter(ParamEnum.eBatteryVoltageFilterSize, 0, timeoutMs);
        allConfigs.velocityMeasurementPeriod = SensorVelocityMeasPeriod.valueOf(configGetParameter(ParamEnum.eSampleVelocityPeriod, 0, timeoutMs));
        allConfigs.velocityMeasurementWindow = (int) configGetParameter(ParamEnum.eSampleVelocityWindow, 0, timeoutMs);
        allConfigs.forwardSoftLimitThreshold = (int) configGetParameter(ParamEnum.eForwardSoftLimitThreshold, 0, timeoutMs);
        allConfigs.reverseSoftLimitThreshold = (int) configGetParameter(ParamEnum.eReverseSoftLimitThreshold, 0, timeoutMs);
        allConfigs.forwardSoftLimitEnable = configGetParameter(ParamEnum.eForwardSoftLimitEnable, 0, timeoutMs) != 0.0;
        allConfigs.reverseSoftLimitEnable = configGetParameter(ParamEnum.eReverseSoftLimitEnable, 0, timeoutMs) != 0.0; //Note, fix in firmware

        getSlotConfigs(allConfigs.slot0, 0, timeoutMs);
        getSlotConfigs(allConfigs.slot1, 1, timeoutMs);
        getSlotConfigs(allConfigs.slot2, 2, timeoutMs);
        getSlotConfigs(allConfigs.slot3, 3, timeoutMs);

        allConfigs.auxPIDPolarity = configGetParameter(ParamEnum.ePIDLoopPolarity, 1, timeoutMs) != 0.0;

        getFilterConfigs(allConfigs.remoteFilter0, 0, timeoutMs);
        getFilterConfigs(allConfigs.remoteFilter1, 1, timeoutMs);

        allConfigs.motionCruiseVelocity = (int) configGetParameter(ParamEnum.eMotMag_VelCruise, 0, timeoutMs);
                allConfigs.motionAcceleration = (int) configGetParameter(ParamEnum.eMotMag_Accel, 0, timeoutMs);
                allConfigs.motionCurveStrength = (int) configGetParameter(ParamEnum.eMotMag_SCurveLevel, 0, timeoutMs);
        allConfigs.motionProfileTrajectoryPeriod = (int) configGetParameter(ParamEnum.eMotionProfileTrajectoryPointDurationMs, 0, timeoutMs);
        allConfigs.customParam0 = (int) configGetParameter(ParamEnum.eCustomParam, 0,  timeoutMs);
        allConfigs.customParam1 = (int) configGetParameter(ParamEnum.eCustomParam, 1,  timeoutMs);


        allConfigs.feedbackNotContinuous = configGetParameter(ParamEnum.eFeedbackNotContinuous, 0, timeoutMs) != 0.0;
        allConfigs.remoteSensorClosedLoopDisableNeutralOnLOS = configGetParameter(ParamEnum.eRemoteSensorClosedLoopDisableNeutralOnLOS, 0, timeoutMs) != 0.0;
        allConfigs.clearPositionOnLimitF = configGetParameter(ParamEnum.eClearPositionOnLimitF, 0, timeoutMs) != 0.0;
        allConfigs.clearPositionOnLimitR = configGetParameter(ParamEnum.eClearPositionOnLimitR, 0, timeoutMs) != 0.0;
        allConfigs.clearPositionOnQuadIdx = configGetParameter(ParamEnum.eClearPositionOnQuadIdx, 0, timeoutMs) != 0.0;
        allConfigs.limitSwitchDisableNeutralOnLOS = configGetParameter(ParamEnum.eLimitSwitchDisableNeutralOnLOS, 0, timeoutMs) != 0.0;
        allConfigs.softLimitDisableNeutralOnLOS = configGetParameter(ParamEnum.eSoftLimitDisableNeutralOnLOS, 0, timeoutMs) != 0.0;
        allConfigs.pulseWidthPeriod_EdgesPerRot = (int) configGetParameter(ParamEnum.ePulseWidthPeriod_EdgesPerRot, 0, timeoutMs);
        allConfigs.pulseWidthPeriod_FilterWindowSz = (int) configGetParameter(ParamEnum.ePulseWidthPeriod_FilterWindowSz, 0, timeoutMs);


    }

}