CANCoder.h

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/* Copyright (C) Cross The Road Electronics 2024 */
#pragma once
 
#include <cstdint>
#include "ctre/phoenix/CANBusAddressable.h"
#include "ctre/phoenix/CustomParamConfiguration.h"
#include "ctre/phoenix/ErrorCode.h"
#include "ctre/phoenix/paramEnum.h"
#include "ctre/phoenix/sensors/AbsoluteSensorRange.h"
#include "ctre/phoenix/sensors/CANCoderSimCollection.h"
#include "ctre/phoenix/sensors/CANCoderStatusFrame.h"
#include "ctre/phoenix/sensors/CANCoderStickyFaults.h"
#include "ctre/phoenix/sensors/CANCoderFaults.h"
#include "ctre/phoenix/sensors/SensorVelocityMeasPeriod.h"
#include "ctre/phoenix/sensors/SensorInitializationStrategy.h"
#include "ctre/phoenix/sensors/MagnetFieldStrength.h"
#include "ctre/phoenix/sensors/SensorTimeBase.h"
 
namespace ctre {
    namespace phoenix {
        namespace sensors {
 
            /**
             * Configurables available to CANCoder
             *
             * @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.
             *
             * If the Phoenix 5 API must be used for this device, the device must have 22.X
             * firmware. This firmware is available in Tuner X after selecting Phoenix 5 in
             * the firmware year dropdown.
             */
            struct CANCoderConfiguration : CustomParamConfiguration {
                /**
                 * Velocity measurement period to use
                 */
                SensorVelocityMeasPeriod velocityMeasurementPeriod = SensorVelocityMeasPeriod::Period_100Ms;
                /**
                 * Velocity measurement window to use
                 */
                int velocityMeasurementWindow = 64;
                /**
                 * Desired Sign / Range for the absolute position register.
                 * Choose unsigned for an absolute range of[0, +1) rotations, [0, 360) deg, etc.
                 * Choose signed for an absolute range of[-0.5, +0.5) rotations, [-180, +180) deg, etc.
                 */
                ctre::phoenix::sensors::AbsoluteSensorRange absoluteSensorRange = AbsoluteSensorRange::Unsigned_0_to_360;
                /**
                 * Adjusts the zero point for the absolute position register.
                 * The absolute position of the sensor will always have a discontinuity (360 -> 0 deg) or (+180 -> -180)
                 * and a hard-limited mechanism may have such a discontinuity in its functional range.
                 * In which case use this config to move the discontinuity outside of the function range.
                 */
                double magnetOffsetDegrees = 0;
                /**
                 * Choose which direction is interpreted as positive displacement.
                 * This affects both "Position"and "Absolute Position".
                 * False(default) means positive rotation occurs when magnet
                 * is spun counter - clockwise when observer is facing the LED side of CANCoder.
                 */
                bool sensorDirection = false;
                /**
                 * The sensor initialization strategy to use.This will impact the behavior the next time CANCoder boots up.
                 *
                 * Pick the strategy on how to initialize the CANCoder's "Position" register.  Depending on the mechanism,
                 * it may be desirable to auto set the Position register to match the Absolute Position(swerve for example).
                 * Or it may be desired to zero the sensor on boot(drivetrain translation sensor or a relative servo).
                 *
                 * TIP: Tuner's self-test feature will report what the boot sensor value will be in the event the CANCoder is reset.
                 */
                ctre::phoenix::sensors::SensorInitializationStrategy initializationStrategy = ctre::phoenix::sensors::SensorInitializationStrategy::BootToZero;
                /**
                 * Scalar to multiply the CANCoder's native 12-bit resolute sensor. Defaults to 0.087890625 to produce degrees.
                 */
                double sensorCoefficient = 360.0 / 4096.0;
                /**
                 * String holding the unit to report in.  This impacts all routines(except for ConfigMagnetOffset) and the self-test in Tuner.
                 * The string value itself is arbitrary.The max number of letters will depend on firmware versioning, but generally CANCoder
                 * supports up to eight letters.However, common units such as "centimeters" are supported explicitly despite exceeding the eight-letter limit.
                 * Default is "deg"
                 */
                std::string unitString = "deg";
                /**
                 * Desired denominator to report velocity in. This impacts GetVelocityand the reported velocity in self-test in Tuner.
                 * Default is "Per Second".
                 */
                ctre::phoenix::sensors::SensorTimeBase sensorTimeBase = ctre::phoenix::sensors::SensorTimeBase::PerSecond;
 
                /**
                 * Constructor
                 */
                [[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")]]
                CANCoderConfiguration() { }
 
                /**
                 * @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;
                    retstr += prependString + ".velocityMeasurementPeriod = " + SensorVelocityMeasPeriodRoutines::toString(velocityMeasurementPeriod) + ";\n";
                    retstr += prependString + ".velocityMeasurementWindow = " + std::to_string(velocityMeasurementWindow) + ";\n";
                    retstr += prependString + ".absoluteSensorRange = " + std::to_string(absoluteSensorRange) + ";\n";
                    retstr += prependString + ".magnetOffsetDegrees = " + std::to_string(magnetOffsetDegrees) + ";\n";
                    retstr += prependString + ".sensorDirection = " + std::to_string(sensorDirection) + ";\n";
                    retstr += prependString + ".initializationStrategy = " + std::to_string(initializationStrategy) + ";\n";
                    retstr += prependString + ".sensorCoefficient = " + std::to_string(sensorCoefficient) + ";\n";
                    retstr += prependString + ".unitString = \"" + unitString.c_str() + "\";\n";
                    retstr += prependString + ".sensorTimeBase = " + std::to_string(sensorTimeBase) + ";\n";
                    retstr += CustomParamConfiguration::toString(prependString);
 
                    return retstr;
                }
 
            };// struct CANCoderConfiguration
 
            /**
             * Util class to help with configuring CANCoder
             *
             * @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.
             *
             * If the Phoenix 5 API must be used for this device, the device must have 22.X
             * firmware. This firmware is available in Tuner X after selecting Phoenix 5 in
             * the firmware year dropdown.
             */
            struct [[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")]]
            CANCoderConfigUtils : CustomParamConfigUtil {
            private:
                static CANCoderConfiguration _default;
            public:
                /**
                 * Determine if specified value is different from default
                 * @param settings settings to compare against
                 * @return if specified value is different from default
                 * @{
                 */
                [[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")]]
                static bool VelocityMeasurementPeriodDifferent(const CANCoderConfiguration& settings) { return (!(settings.velocityMeasurementPeriod == _default.velocityMeasurementPeriod)) || !settings.enableOptimizations; }
                [[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")]]
                static bool VelocityMeasurementWindowDifferent(const CANCoderConfiguration& settings) { return (!(settings.velocityMeasurementWindow == _default.velocityMeasurementWindow)) || !settings.enableOptimizations; }
                [[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")]]
                static bool AbsoluteSensorRangeDifferent(const CANCoderConfiguration& settings) { return (!(settings.absoluteSensorRange == _default.absoluteSensorRange)) || !settings.enableOptimizations; }
                [[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")]]
                static bool MagnetOffsetDegreesDifferent(const CANCoderConfiguration& settings) { return (!(settings.magnetOffsetDegrees == _default.magnetOffsetDegrees)) || !settings.enableOptimizations; }
                [[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")]]
                static bool SensorDirectionDifferent(const CANCoderConfiguration& settings) { return (!(settings.sensorDirection == _default.sensorDirection)) || !settings.enableOptimizations; }
                [[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")]]
                static bool InitializationStrategyDifferent(const CANCoderConfiguration& settings) { return (!(settings.initializationStrategy == _default.initializationStrategy)) || !settings.enableOptimizations; }
                [[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")]]
                static bool SensorCoefficientDifferent(const CANCoderConfiguration& settings) { return (!(settings.sensorCoefficient == _default.sensorCoefficient)) || !settings.enableOptimizations; }
                [[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")]]
                static bool UnitStringDifferent(const CANCoderConfiguration& settings) { return (!(settings.unitString == _default.unitString)) || !settings.enableOptimizations; }
                [[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")]]
                static bool SensorTimeBaseDifferent(const CANCoderConfiguration& settings) { return (!(settings.sensorTimeBase == _default.sensorTimeBase)) || !settings.enableOptimizations; }
                /** @} */
            };
 
 
            /**
             * CTRE CANCoder.
             *
             * <pre>
             * {@code
             * // Example usage of a CANCoder
             * CANCoder cancoder{0}; // creates a new CANCoder with ID 0
             *
             * CANCoderConfiguration config;
             * // set units of the CANCoder to radians, with velocity being radians per second
             * config.sensorCoefficient = 2 * M_PI / 4096.0;
             * config.unitString = "rad";
             * config.sensorTimeBase = SensorTimeBase::PerSecond;
             * cancoder.ConfigAllSettings(config);
             *
             * std::cout << cancoder.GetPosition() << std::endl; // prints the position of the CANCoder
             * std::cout << cancoder.GetVelocity() << std::endl; // prints the velocity recorded by the CANCoder
             *
             * ErrorCode error = cancoder.GetLastError(); // gets the last error generated by the CANCoder
             * CANCoderFaults faults;
             * ErrorCode faultsError = cancoder.GetFaults(faults); // fills faults with the current CANCoder faults; returns the last error generated
             *
             * cancoder.SetStatusFramePeriod(CANCoderStatusFrame_SensorData, 10); // changes the period of the sensor data frame to 10ms
             * }
             * </pre>
             *
             * @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.
             *
             * If the Phoenix 5 API must be used for this device, the device must have 22.X
             * firmware. This firmware is available in Tuner X after selecting Phoenix 5 in
             * the firmware year dropdown.
             */
            class [[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")]]
            CANCoder : public CANBusAddressable {
            public:
                /**
                 * Constructor.
                 * @param deviceNumber  The CAN Device ID of the CANCoder.
                 * @param canbus Name of the CANbus; can be a SocketCAN interface (on Linux),
                 *               or a CANivore device name or serial number
                 */
                CANCoder(int deviceNumber, std::string const &canbus = "");
 
                ~CANCoder();
 
                /**
                 * Destructs all CANCoder objects
                 */
                static void DestroyAllCANCoders();
 
 
                /**
                 * Gets the position of the sensor.  This may be relative or absolute depending on configuration.
                 * The units are determined by the coefficient and unit-string configuration params, default is degrees.
                 * @return The position of the sensor.
                 */
                double GetPosition();
                /**
                 * Sets the position of the sensor.
                 * The units are determined by the coefficient and unit-string configuration params, default is degrees.
                 * @param newPosition
                 * @return ErrorCode generated by function. 0 indicates no error.
                 */
                double GetVelocity();
                /**
                 * Sets the position of the sensor.
                 * The units are determined by the coefficient and unit-string configuration params, default is degrees.
                 * @param newPosition
                 * @return ErrorCode generated by function. 0 indicates no error.
                 */
                ErrorCode SetPosition(double newPosition, int timeoutMs = 0);
                /**
                 * Sets the position of the sensor to match the magnet's "Absolute Sensor".
                 * The units are determined by the coefficient and unit-string configuration params, default is degrees.
                 * @return ErrorCode generated by function. 0 indicates no error.
                 */
                ErrorCode SetPositionToAbsolute(int timeoutMs = 0);
 
                /**
                 * Gets the absolute position of the sensor.
                 * The absolute position may be unsigned (for example: [0,360) deg), or signed (for example: [-180,+180) deg).  This is determined by a configuration.  The default selection is unsigned.
                 * The units are determined by the coefficient and unit-string configuration params, default is degrees.
                 * Note: this signal is not affected by calls to SetPosition().
                 * @return The position of the sensor.
                 */
                double GetAbsolutePosition();
                /**
                 * 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.
                 * @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.
                 */
                ErrorCode ConfigVelocityMeasurementPeriod(SensorVelocityMeasPeriod 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.
                 */
                ErrorCode ConfigVelocityMeasurementWindow(int windowSize, int timeoutMs = 0);
                /**
                 * Sets the signage and range of the "Absolute Position" signal.
                 * Choose unsigned for an absolute range of [0,+1) rotations, [0,360) deg, etc...
                 * Choose signed for an absolute range of [-0.5,+0.5) rotations, [-180,+180) deg, etc...
                 * @param absoluteSensorRange
                 *            Desired Sign/Range for the absolute position register.
                 * @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.
                 */
                ErrorCode ConfigAbsoluteSensorRange(ctre::phoenix::sensors::AbsoluteSensorRange absoluteSensorRange, int timeoutMs = 0);
                /**
                 * Adjusts the zero point for the absolute position register.
                 * The absolute position of the sensor will always have a discontinuity (360 -> 0 deg) or (+180 -> -180)
                 * and a hard-limited mechanism may have such a discontinuity in its functional range.
                 * In which case use this config to move the discontinuity outside of the function range.
                 * @param offsetDegrees
                 *            Offset in degrees (unit string and coefficient DO NOT apply for this config).
                 * @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.
                 */
                ErrorCode ConfigMagnetOffset(double offsetDegrees, int timeoutMs = 0);
                /**
                 * Pick the strategy on how to initialize the CANCoder's "Position" register.  Depending on the mechanism,
                 * it may be desirable to auto set the Position register to match the Absolute Position (swerve for example).
                 * Or it may be desired to zero the sensor on boot (drivetrain translation sensor or a relative servo).
                 *
                 * TIP: Tuner's self-test feature will report what the boot sensor value will be in the event the CANCoder is reset.
                 *
                 * @param initializationStrategy
                 *            The sensor initialization strategy to use.  This will impact the behavior the next time CANCoder boots up.
                 * @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.
                 */
                ErrorCode ConfigSensorInitializationStrategy(ctre::phoenix::sensors::SensorInitializationStrategy initializationStrategy, int timeoutMs = 0);
                /**
                 * Choose what units you want the API to get/set.  This also impacts the units displayed in Self-Test in Tuner.
                 * Depending on your mechanism, you may want to scale rotational units (deg, radians, rotations), or scale to a distance (inches, centimeters).
                 * @param sensorCoefficient
                 *            Scalar to multiply the CANCoder's native 12-bit resolute sensor. Defaults to 0.087890625 to produce degrees.
                 * @param unitString
                 *            String holding the unit to report in.  This impacts all routines (except for ConfigMagnetOffset) and the self-test in Tuner.
                 *            The string value itself is arbitrary.  The max number of letters will depend on firmware versioning, but generally CANCoder
                 *            supports up to eight letters.  However, common units such as "centimeters" are supported explicitly despite exceeding the eight-letter limit.
                 *            Default is "deg"
                 * @param sensortimeBase
                 *            Desired denominator to report velocity in.  This impacts GetVelocity and the reported velocity in self-test in Tuner.
                 *            Default is "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.
                 */
                [[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")]]
                ErrorCode ConfigFeedbackCoefficient(double sensorCoefficient, const std::string& unitString, ctre::phoenix::sensors::SensorTimeBase sensortimeBase, int timeoutMs = 0);
 
                /**
                 * Gets the bus voltage seen by the device.
                 *
                 * @return The bus voltage value (in volts).
                 */
                double GetBusVoltage();
                /**
                 * Gets the magnet's health.
                 *
                 * @return The magnet health code (red/orange/green).
                 */
                [[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::sensors::MagnetFieldStrength GetMagnetFieldStrength();
 
                /**
                 * Choose which direction is interpreted as positive displacement.
                 * This affects both "Position" and "Absolute Position".
                 * @param bSensorDirection
                 *            False (default) means positive rotation occurs when magnet
                 *            is spun counter-clockwise when observer is facing the LED side of CANCoder.
                 * @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.
                 */
                ErrorCode ConfigSensorDirection(bool bSensorDirection, int timeoutMs = 0);
 
                /**
                 * Call GetLastError() 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 The last ErrorCode generated.
                 */
                ErrorCode GetLastError();
 
                /**
                 * Get the units for the signal retrieved in the last called get routine.
                 */
                std::string GetLastUnitString();
 
                /**
                 *Get the timestamp of the CAN frame retrieved in the last called get routine.
                 */
                double GetLastTimestamp();
 
                /**
                 * Sets the value of a custom parameter. This is for arbitrary use.
                 *
                 * Sometimes it is necessary to save calibration/duty cycle/output
                 * 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.
                 */
                ErrorCode ConfigSetCustomParam(int newValue, int paramIndex,
                    int timeoutMs = 0);
                /**
                 * Gets the value of a custom parameter. This is for arbitrary use.
                 *
                 * Sometimes it is necessary to save calibration/duty cycle/output
                 * information in the device. Particularly if the
                 * device is part of a subsystem that can be replaced.
                 *
                 * @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.
                 */
                int ConfigGetCustomParam(int paramIndex,
                    int timeoutMs = 0);
                //------ Generic Param API, typically not used ----------//
                /**
                 * 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.
                 */
                ErrorCode ConfigSetParameter(ParamEnum param, double value,
                    uint8_t subValue, int ordinal, int timeoutMs = 0);
                /**
                 * Gets 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 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.
                 */
                double ConfigGetParameter(ParamEnum param, int ordinal, int timeoutMs = 0);
 
                /**
                 * Gets a parameter by passing an int by reference
                 *
                 * @param param
                 *            Parameter enumeration
                 * @param valueToSend
                 *            Value to send to parameter
                 * @param valueReceived
                 *            Reference to integer to receive
                 * @param subValue
                 *            SubValue of parameter
                 * @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.
                 */
                ErrorCode ConfigGetParameter(ParamEnum param, int32_t valueToSend,
                    int32_t& valueReceived, uint8_t& subValue, int32_t ordinal,
                    int32_t timeoutMs);
 
 
                /**
                 * Sets the period of the given status frame.
                 *
                 * @param statusFrame  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.
                 */
                [[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")]]
                ErrorCode SetStatusFramePeriod(CANCoderStatusFrame statusFrame,
                    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.
                 */
                [[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")]]
                int GetStatusFramePeriod(CANCoderStatusFrame frame, int timeoutMs = 0);
                /**
                 * Gets the firmware version of the device.
                 *
                 * @return Firmware version of device.
                 */
                int GetFirmwareVersion();
                /**
                 * Returns true if the device has reset since last call.
                 *
                 * @return Has a Device Reset Occurred?
                 */
                bool HasResetOccurred();
                /**
                 * Gets the CANCoder fault status
                 *
                 * @param toFill
                 *            Container for fault statuses.
                 * @return Error Code generated by function. 0 indicates no error.
                 */
                [[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")]]
                ErrorCode GetFaults(CANCoderFaults& toFill);
                /**
                 * Gets the CANCoder sticky fault status
                 *
                 * @param toFill
                 *            Container for sticky fault statuses.
                 * @return Error Code generated by function. 0 indicates no error.
                 */
                [[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")]]
                ErrorCode GetStickyFaults(CANCoderStickyFaults& toFill);
                /**
                 * Clears the 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 Error Code generated by function. 0 indicates no error.
                 */
                ErrorCode ClearStickyFaults(int timeoutMs = 0);
 
                //------ All Configs ----------//
                /**
                 * 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.
                 */
                [[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::ErrorCode ConfigAllSettings(const CANCoderConfiguration& 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.
                 * @return Error Code generated by function. 0 indicates no error.
                 */
                [[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")]]
                ErrorCode GetAllConfigs(CANCoderConfiguration& allConfigs, int timeoutMs = 50);
                /**
                 * Configures all persistent settings to defaults (overloaded so timeoutMs is 50 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.
                 */
                ErrorCode ConfigFactoryDefault(int timeoutMs = 50);
 
                /**
                 * @return object that can set simulation inputs.
                 */
                [[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")]]
                CANCoderSimCollection& GetSimCollection();
 
            private:
                void* m_handle;
                CANCoderSimCollection* _simCollection;
 
            };// class CANCoder
 
        } // namespace sensor
    } // namespace phoenix
} // namespace ctre