BaseTalon.h

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/* Copyright (C) Cross The Road Electronics 2024 */
#pragma once
#if defined(WIN32) || defined(_WIN32) || defined(_WIN64)
#pragma warning (push)
#pragma warning (disable : 4250)
#endif
 
#include "ctre/phoenix/motorcontrol/can/BaseMotorController.h"
#include "ctre/phoenix/motorcontrol/IMotorControllerEnhanced.h"
#include "ctre/phoenix/motorcontrol/SupplyCurrentLimitConfiguration.h"
#include "ctre/phoenix/CustomParamConfiguration.h"
#include "ctre/phoenix/motorcontrol/SensorCollection.h"
#include "ctre/phoenix/motorcontrol/TalonFXSensorCollection.h"
#include "ctre/phoenix/motorcontrol/TalonSRXSimCollection.h"
#include "ctre/phoenix/motorcontrol/TalonFXSimCollection.h"
 
/* forward proto's */
namespace ctre {
    namespace phoenix {
        namespace motorcontrol {
            class SensorCollection;
        }
    }
}
 
namespace ctre {
    namespace phoenix {
        namespace motorcontrol {
            namespace can {
 
                /**
                 * Configurables available to BaseTalon's PID
                 */
                struct BaseTalonPIDSetConfiguration : BasePIDSetConfiguration {
                    /**
                     * Feedback device for a particular PID loop.
                     * Note the FeedbackDevice enum holds all possible sensor types.  Consult product documentation to confirm what is available.
                     * Alternatively the product specific enum can be used instead.
                     *  @code
                     *  configs.primaryPID.selectedFeedbackSensor = (FeedbackDevice)TalonSRXFeedbackDevice::QuadEncoder;
                     *  configs.primaryPID.selectedFeedbackSensor = (FeedbackDevice)TalonFXFeedbackDevice::IntegratedSensor;
                     *  @endcode
                     */
                    FeedbackDevice selectedFeedbackSensor;
 
                    BaseTalonPIDSetConfiguration(FeedbackDevice defaultFeedbackDevice) :
                        selectedFeedbackSensor(defaultFeedbackDevice)
                    {
                    }
 
                    /**
                     * @return string representation of configs
                     */
                    std::string toString() {
                        return toString("");
                    }
 
                    /**
                     * @param prependString
                     *              String to prepend to configs
                     * @return String representation of configs
                     */
                    std::string toString(std::string prependString) {
 
                        std::string retstr = prependString + ".selectedFeedbackSensor = " + FeedbackDeviceRoutines::toString(selectedFeedbackSensor) + ";\n";
                        retstr += BasePIDSetConfiguration::toString(prependString);
                        return retstr;
                    }
                };
 
                /**
                 * Util class to help with BaseTalon's PID configs
                 */
                struct BaseTalonPIDSetConfigUtil {
                private:
                    static BaseTalonPIDSetConfiguration _default;
                public:
                    /* Default feedback sensor is product specific. In order to ensure user always gets what they expect when selecting feedback sensor,
                       SelectedFeedbackSensorDifferent will always return true */
 
                    /**
                     * Determine if specified value is different from default
                     * @param settings settings to compare against
                     * @return if specified value is different from default
                     * @{
                     */
                    static bool SelectedFeedbackSensorDifferent(const BaseTalonPIDSetConfiguration& settings) { (void) settings; return true; } //{ return (!(settings.selectedFeedbackSensor == _default.selectedFeedbackSensor)); }
                    static bool SelectedFeedbackCoefficientDifferent(const BaseTalonPIDSetConfiguration& settings) { return (!(settings.selectedFeedbackCoefficient == _default.selectedFeedbackCoefficient)); }
                    /** @} */
                };
 
 
                /**
                 * Configurables available to BaseTalon
                 */
                struct BaseTalonConfiguration : BaseMotorControllerConfiguration {
                    /**
                     * Primary PID configuration
                     */
                    BaseTalonPIDSetConfiguration primaryPID;
                    /**
                     * Auxiliary PID configuration
                     */
                    BaseTalonPIDSetConfiguration auxiliaryPID;
                    /**
                     * Forward Limit Switch Source
                     *
                     * User can choose between the feedback connector, remote Talon SRX, CANifier, or deactivate the feature
                     */
                    LimitSwitchSource forwardLimitSwitchSource;
                    /**
                     * Reverse Limit Switch Source
                     *
                     * User can choose between the feedback connector, remote Talon SRX, CANifier, or deactivate the feature
                     */
                    LimitSwitchSource reverseLimitSwitchSource;
                    /**
                     * Forward limit switch device ID
                     *
                     * Limit Switch device id isn't used unless device is a remote
                     */
                    int forwardLimitSwitchDeviceID;
                    /**
                     * Reverse limit switch device ID
                     *
                     * Limit Switch device id isn't used unless device is a remote
                     */
                    int reverseLimitSwitchDeviceID;
                    /**
                     * Forward limit switch normally open/closed
                     */
                    LimitSwitchNormal forwardLimitSwitchNormal;
                    /**
                     * Reverse limit switch normally open/closed
                     */
                    LimitSwitchNormal reverseLimitSwitchNormal;
                    /**
                     * Feedback Device for Sum 0 Term
                     * Note the FeedbackDevice enum holds all possible sensor types.  Consult product documentation to confirm what is available.
                     * Alternatively the product specific enum can be used instead.
                     *  @code
                     *  configs.sum0Term = (FeedbackDevice)TalonSRXFeedbackDevice::QuadEncoder;
                     *  configs.sum0Term = (FeedbackDevice)TalonFXFeedbackDevice::IntegratedSensor;
                     *  @endcode
                     */
                    FeedbackDevice sum0Term;
                    /**
                     * Feedback Device for Sum 1 Term
                     * Note the FeedbackDevice enum holds all possible sensor types.  Consult product documentation to confirm what is available.
                     * Alternatively the product specific enum can be used instead.
                     *  @code
                     *  configs.sum1Term = (FeedbackDevice)TalonSRXFeedbackDevice::QuadEncoder;
                     *  configs.sum1Term = (FeedbackDevice)TalonFXFeedbackDevice::IntegratedSensor;
                     *  @endcode
                     */
                    FeedbackDevice sum1Term;
                    /**
                     * Feedback Device for Diff 0 Term
                     * Note the FeedbackDevice enum holds all possible sensor types.  Consult product documentation to confirm what is available.
                     * Alternatively the product specific enum can be used instead.
                     *  @code
                     *  configs.diff0Term = (FeedbackDevice)TalonSRXFeedbackDevice::QuadEncoder;
                     *  configs.diff0Term = (FeedbackDevice)TalonFXFeedbackDevice::IntegratedSensor;
                     *  @endcode
                     */
                    FeedbackDevice diff0Term;
                    /**
                     * Feedback Device for Diff 1 Term
                     * Note the FeedbackDevice enum holds all possible sensor types.  Consult product documentation to confirm what is available.
                     * Alternatively the product specific enum can be used instead.
                     *  @code
                     *  configs.diff1Term = (FeedbackDevice)TalonSRXFeedbackDevice::QuadEncoder;
                     *  configs.diff1Term = (FeedbackDevice)TalonFXFeedbackDevice::IntegratedSensor;
                     *  @endcode
                     */
                    FeedbackDevice diff1Term;
 
                    BaseTalonConfiguration(FeedbackDevice defaultFeedbackDevice) :
                        primaryPID(defaultFeedbackDevice),
                        auxiliaryPID(defaultFeedbackDevice),
                        forwardLimitSwitchSource(LimitSwitchSource_FeedbackConnector),
                        reverseLimitSwitchSource(LimitSwitchSource_FeedbackConnector),
                        forwardLimitSwitchDeviceID(0),
                        reverseLimitSwitchDeviceID(0),
                        forwardLimitSwitchNormal(LimitSwitchNormal_NormallyOpen),
                        reverseLimitSwitchNormal(LimitSwitchNormal_NormallyOpen),
                        sum0Term(defaultFeedbackDevice),
                        sum1Term(defaultFeedbackDevice),
                        diff0Term(defaultFeedbackDevice),
                        diff1Term(defaultFeedbackDevice)
                    {
                    }
 
                    /**
                     * @return String representation of all the configs
                     */
                    std::string toString() {
                        return toString("");
                    }
 
                    /**
                     * @param prependString
                     *              String to prepend to all the configs
                     * @return String representation of all the configs
                     */
                    std::string toString(std::string prependString) {
 
 
                        std::string retstr = primaryPID.toString(prependString + ".primaryPID");
                        retstr += auxiliaryPID.toString(prependString + ".auxiliaryPID");
                        retstr += prependString + ".forwardLimitSwitchSource = " + LimitSwitchRoutines::toString(forwardLimitSwitchSource) + ";\n";
                        retstr += prependString + ".reverseLimitSwitchSource = " + LimitSwitchRoutines::toString(reverseLimitSwitchSource) + ";\n";
                        retstr += prependString + ".forwardLimitSwitchDeviceID = " + std::to_string(forwardLimitSwitchDeviceID) + ";\n";
                        retstr += prependString + ".reverseLimitSwitchDeviceID = " + std::to_string(reverseLimitSwitchDeviceID) + ";\n";
                        retstr += prependString + ".forwardLimitSwitchNormal = " + LimitSwitchRoutines::toString(forwardLimitSwitchNormal) + ";\n";
                        retstr += prependString + ".reverseLimitSwitchNormal = " + LimitSwitchRoutines::toString(reverseLimitSwitchNormal) + ";\n";
                        retstr += prependString + ".sum0Term = " + FeedbackDeviceRoutines::toString(sum0Term) + ";\n";
                        retstr += prependString + ".sum1Term = " + FeedbackDeviceRoutines::toString(sum1Term) + ";\n";
                        retstr += prependString + ".diff0Term = " + FeedbackDeviceRoutines::toString(diff0Term) + ";\n";
                        retstr += prependString + ".diff1Term = " + FeedbackDeviceRoutines::toString(diff1Term) + ";\n";
                        retstr += BaseMotorControllerConfiguration::toString(prependString);
 
                        return retstr;
                    }
                };// struct BaseTalonConfiguration
 
                /**
                 * Util class to help with talon configs
                 */
                class BaseTalonConfigUtil {
                private:
                    static struct BaseTalonConfiguration _default;
                public:
                    /* Default feedback sensor is product specific. In order to ensure user always gets what they expect when selecting feedback sensor,
                       (Sum/Diff)(0/1)TermDifferent will always return true */
 
                    /**
                     * Determine if specified value is different from default
                     * @param settings settings to compare against
                     * @return if specified value is different from default
                     * @{
                     */
                    static bool ForwardLimitSwitchSourceDifferent(const BaseTalonConfiguration& settings) { return (!(settings.forwardLimitSwitchSource == _default.forwardLimitSwitchSource)) || !settings.enableOptimizations; }
                    static bool ReverseLimitSwitchSourceDifferent(const BaseTalonConfiguration& settings) { return (!(settings.reverseLimitSwitchSource == _default.reverseLimitSwitchSource)) || !settings.enableOptimizations; }
                    static bool ForwardLimitSwitchDeviceIDDifferent(const BaseTalonConfiguration& settings) { return (!(settings.forwardLimitSwitchDeviceID == _default.forwardLimitSwitchDeviceID)) || !settings.enableOptimizations; }
                    static bool ReverseLimitSwitchDeviceIDDifferent(const BaseTalonConfiguration& settings) { return (!(settings.reverseLimitSwitchDeviceID == _default.reverseLimitSwitchDeviceID)) || !settings.enableOptimizations; }
                    static bool ForwardLimitSwitchNormalDifferent(const BaseTalonConfiguration& settings) { return (!(settings.forwardLimitSwitchNormal == _default.forwardLimitSwitchNormal)) || !settings.enableOptimizations; }
                    static bool ReverseLimitSwitchNormalDifferent(const BaseTalonConfiguration& settings) { return (!(settings.reverseLimitSwitchNormal == _default.reverseLimitSwitchNormal)) || !settings.enableOptimizations; }
                    static bool Sum0TermDifferent(const BaseTalonConfiguration& settings) { (void) settings; return true; } //{ return (!(settings.sum0Term == _default.sum0Term)) || !settings.enableOptimizations; }
                    static bool Sum1TermDifferent(const BaseTalonConfiguration& settings) { (void) settings; return true; } //{ return (!(settings.sum1Term == _default.sum1Term)) || !settings.enableOptimizations; }
                    static bool Diff0TermDifferent(const BaseTalonConfiguration& settings) { (void) settings; return true; } //{ return (!(settings.diff0Term == _default.diff0Term)) || !settings.enableOptimizations; }
                    static bool Diff1TermDifferent(const BaseTalonConfiguration& settings) { (void) settings; return true; } //{ return (!(settings.diff1Term == _default.diff1Term)) || !settings.enableOptimizations; }
 
                    static bool ForwardLimitSwitchDifferent(const BaseTalonConfiguration& settings) {
                        return ForwardLimitSwitchDeviceIDDifferent(settings) || ForwardLimitSwitchNormalDifferent(settings) || ForwardLimitSwitchSourceDifferent(settings);
                    }
                    static bool ReverseLimitSwitchDifferent(const BaseTalonConfiguration& settings) {
                        return ReverseLimitSwitchDeviceIDDifferent(settings) || ReverseLimitSwitchNormalDifferent(settings) || ReverseLimitSwitchSourceDifferent(settings);
                    }
                    /** @} */
                };
 
                /**
                 * CTRE Talon SRX Motor Controller when used on CAN Bus.
                 */
                class BaseTalon : public virtual BaseMotorController, public virtual IMotorControllerEnhanced
                {
                private:
                    ctre::phoenix::motorcontrol::SensorCollection* _sensorCollSrx;
                    ctre::phoenix::motorcontrol::TalonFXSensorCollection* _sensorCollFx;
 
                    ctre::phoenix::motorcontrol::TalonSRXSimCollection* _simCollSrx;
                    ctre::phoenix::motorcontrol::TalonFXSimCollection* _simCollFx;
 
                protected:
                    [[deprecated("This device's Phoenix 5 API is deprecated for removal in the 2025 season."
                            "Users should update to Phoenix 6 firmware and migrate to the Phoenix 6 API."
                            "A migration guide is available at https://v6.docs.ctr-electronics.com/en/stable/docs/migration/migration-guide/index.html")]]
                    ctre::phoenix::motorcontrol::SensorCollection& GetTalonSRXSensorCollection() { return *_sensorCollSrx; }
                    [[deprecated("This device's Phoenix 5 API is deprecated for removal in the 2025 season."
                            "Users should update to Phoenix 6 firmware and migrate to the Phoenix 6 API."
                            "A migration guide is available at https://v6.docs.ctr-electronics.com/en/stable/docs/migration/migration-guide/index.html")]]
                    ctre::phoenix::motorcontrol::TalonFXSensorCollection& GetTalonFXSensorCollection() { return *_sensorCollFx; }
 
                    [[deprecated("This device's Phoenix 5 API is deprecated for removal in the 2025 season."
                            "Users should update to Phoenix 6 firmware and migrate to the Phoenix 6 API."
                            "A migration guide is available at https://v6.docs.ctr-electronics.com/en/stable/docs/migration/migration-guide/index.html")]]
                    ctre::phoenix::motorcontrol::TalonSRXSimCollection& GetTalonSRXSimCollection() { return *_simCollSrx; }
                    [[deprecated("This device's Phoenix 5 API is deprecated for removal in the 2025 season."
                            "Users should update to Phoenix 6 firmware and migrate to the Phoenix 6 API."
                            "A migration guide is available at https://v6.docs.ctr-electronics.com/en/stable/docs/migration/migration-guide/index.html")]]
                    ctre::phoenix::motorcontrol::TalonFXSimCollection& GetTalonFXSimCollection() { return *_simCollFx; }
 
                    ctre::phoenix::ErrorCode ConfigurePID(const BaseTalonPIDSetConfiguration& pid, int pidIdx, int timeoutMs, bool enableOptimizations);
 
 
                    //------ All Configs ----------//
                    /**
                     * Gets all PID set persistant settings.
                     *
                     * @param pid               Object with all of the 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.
                     */
                    void GetPIDConfigs(BaseTalonPIDSetConfiguration& pid, int pidIdx = 0, int timeoutMs = 50);
                    /**
                     * Configures all persistent settings.
                     *
                     * @param allConfigs        Object with all of the 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.
                     */
                    ctre::phoenix::ErrorCode BaseTalonConfigAllSettings(const BaseTalonConfiguration& allConfigs, int timeoutMs = 50);
                    /**
                     * Gets all persistant settings.
                     *
                     * @param allConfigs        Object with all of the 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.
                     */
                    void BaseTalonGetAllConfigs(BaseTalonConfiguration& allConfigs, int timeoutMs = 50);
                public:
                    /**
                     * Constructor for a Talon
                     * @param deviceNumber CAN Device ID of BaseTalon
                     * @param canbus Name of the CANbus; can be a SocketCAN interface (on Linux),
                     *               or a CANivore device name or serial number
                     */
                    BaseTalon(int deviceNumber, const char* model, std::string const &canbus = "");
                    virtual ~BaseTalon();
                    BaseTalon() = delete;
                    BaseTalon(BaseTalon const&) = delete;
                    BaseTalon& operator=(BaseTalon const&) = delete;
 
                    /**
                     * 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.
                     */
                    virtual ctre::phoenix::ErrorCode ConfigSelectedFeedbackSensor(FeedbackDevice feedbackDevice, int pidIdx = 0, int timeoutMs = 0);
                    /**
                     * 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.
                     */
                    virtual ctre::phoenix::ErrorCode ConfigSelectedFeedbackSensor(RemoteFeedbackDevice feedbackDevice, int pidIdx = 0, int timeoutMs = 0);
 
                    /**
                     * 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.
                     * @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.
                     */
                    virtual ctre::phoenix::ErrorCode SetStatusFramePeriod(StatusFrameEnhanced frame, uint8_t periodMs, int timeoutMs = 0);
                    /**
                     * 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.
                     * @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.
                     */
                    virtual ctre::phoenix::ErrorCode SetStatusFramePeriod(StatusFrame frame, uint8_t periodMs, int timeoutMs = 0);
 
                    /**
                     * 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.
                     */
                    virtual int GetStatusFramePeriod(StatusFrameEnhanced frame, int timeoutMs = 0);
                    /**
                     * 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.
                     */
                    virtual int GetStatusFramePeriod(StatusFrame frame, int timeoutMs = 0);
 
                    //------ General Status ----------//
                    /**
                     * 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().
                     * In the case of TalonFX class, this routine returns the true output stator current.
                     *
                     * [[deprecated("Use GetStatorCurrent/GetSupplyCurrent instead.")]]
                     *
                     * @return The output current (in amps).
                     */
                    virtual double GetOutputCurrent();
 
                    /**
                     * Gets the stator/output current of the motor controller.
                     *
                     * @return The stator/output current (in amps).
                     */
                    double GetStatorCurrent();
 
                    /**
                     * Gets the supply/input current of the motor controller.
                     *
                     * @return The supply/input current (in amps).
                     */
                    double GetSupplyCurrent();
 
                    //------ Velocity measurement ----------//
                    /**
                     * Configures the period of each velocity sample.
                     * Every 1ms a position value is sampled, and the delta between that sample
                     * and the position sampled kPeriod ms ago is inserted into a filter.
                     * kPeriod is configured with this function.
                     *
                     * @param period
                     *            Desired period for the velocity measurement. @see
                     *            #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.
                     */
                    virtual ctre::phoenix::ErrorCode ConfigVelocityMeasurementPeriod(ctre::phoenix::sensors::SensorVelocityMeasPeriod period,
                        int timeoutMs = 0);
 
                    [[deprecated("Use the overload with SensorVelocityMeasPeriod instead.")]]
                    virtual ctre::phoenix::ErrorCode ConfigVelocityMeasurementPeriod(VelocityMeasPeriod period,
                        int timeoutMs = 0);
                    /**
                     * 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.
                     */
                    virtual ctre::phoenix::ErrorCode ConfigVelocityMeasurementWindow(int windowSize,
                        int timeoutMs = 0);
 
                    //------ limit switch ----------//
                    /**
                     * 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 limitSwitchSource
                     *            Limit switch source.
                     *            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.
                     */
                    virtual ctre::phoenix::ErrorCode ConfigForwardLimitSwitchSource(
                        LimitSwitchSource limitSwitchSource,
                        LimitSwitchNormal normalOpenOrClose, int timeoutMs = 0);
                    /**
                     * 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 limitSwitchSource
                     *            Limit switch source.
                     *            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 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.
                     */
                    virtual ctre::phoenix::ErrorCode ConfigForwardLimitSwitchSource(
                        RemoteLimitSwitchSource limitSwitchSource,
                        LimitSwitchNormal normalOpenOrClose, int deviceID, int timeoutMs = 0);
                    /**
                     * 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 limitSwitchSource
                     *            Limit switch source. @see #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.
                     */
                    virtual ctre::phoenix::ErrorCode ConfigReverseLimitSwitchSource(
                        LimitSwitchSource limitSwitchSource,
                        LimitSwitchNormal normalOpenOrClose, int timeoutMs = 0);
                    /**
                     * 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 limitSwitchSource
                     *            Limit switch source. @see #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 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.
                     */
                    virtual ctre::phoenix::ErrorCode ConfigReverseLimitSwitchSource(
                        RemoteLimitSwitchSource limitSwitchSource,
                        LimitSwitchNormal normalOpenOrClose, int deviceID, int timeoutMs = 0);
 
                    //------ Current Limit ----------//
                    virtual ctre::phoenix::ErrorCode ConfigSupplyCurrentLimit(const SupplyCurrentLimitConfiguration& currLimitConfigs, int timeoutMs = 50);
 
                    //------ RAW Sensor API ----------//
                    /**
                     * Is forward limit switch closed.
                     *
                     * @return  '1' iff forward limit switch is closed, 0 iff switch is open. This function works
                     *          regardless if limit switch feature is enabled.  Remote limit features do not impact this routine.
                     */
 
                    int IsFwdLimitSwitchClosed();
 
                    /**
                     * Is reverse limit switch closed.
                     *
                     * @return  '1' iff reverse limit switch is closed, 0 iff switch is open. This function works
                     *          regardless if limit switch feature is enabled.  Remote limit features do not impact this routine.
                     */
 
                    int IsRevLimitSwitchClosed();
                };// class BaseTalon
 
            } // namespace can
        } // namespace motorcontrol
    } // namespace phoenix
} // namespace ctre
 
#if defined(WIN32) || defined(_WIN32) || defined(_WIN64)
#pragma warning (pop)
#endif