CANCoderSimCollection.h

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/* Copyright (C) Cross The Road Electronics 2024 */
#pragma once
 
#include "ctre/phoenix/ErrorCode.h"
#include "ctre/phoenix/cci/Platform_CCI.h"
 
/* forward proto's */
namespace ctre {
    namespace phoenix {
        namespace sensors {
            class CANCoder;
        }
    }
}
 
namespace ctre {
    namespace phoenix {
        namespace sensors {
            /**
             * Collection of simulation functions available to a CANCoder.
             * 
             * Use the getSimCollection() function in your CANCoder object to create the respective sim collection.
             *
             * @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 CANCoderSimCollection {
            public:
                /** 
                 * Constructor for CANCoderSimCollection
                 * 
                 * @param canCoder CANCoder to connect Collection to
                 */
                CANCoderSimCollection(ctre::phoenix::sensors::CANCoder& canCoder);
 
                /**
                 * Sets the simulated bus voltage of the CANCoder.
                 * 
                 * The minimum allowed bus voltage is 4 V - values
                 * below this will be promoted to 4 V.
                 * 
                 * @param vbat the bus voltage in volts
                 *
                 * @return  error code
                 */
                ErrorCode SetBusVoltage(double vbat);
 
                /**
                 * Sets the simulated raw position of the CANCoder.
                 * 
                 * The CANCoder integrates this to calculate the true reported position.
                 * 
                 * When using the WPI Sim GUI, you will notice a readonly 'position' and
                 * settable 'rawPositionInput'.  The readonly signal is the emulated position
                 * which will match self-test in Tuner and the hardware API.  Changes to
                 * 'rawPositionInput' will be integrated into the emulated position.  This way
                 * a simulator can modify the position without overriding your
                 * hardware API calls for home-ing your sensor.
                 * 
                 * Inputs to this function over time should be continuous, as user calls
                 * of setPosition() will be accounted for in the calculation.
                 * 
                 * @param newPos the new raw position in native units
                 *
                 * @return  error code
                 */
                ErrorCode SetRawPosition(int newPos);
 
                /**
                 * Adds to the simulated position of the CANCoder.
                 * 
                 * @param dPos the change in position in native units
                 *
                 * @return  error code
                 */
                ErrorCode AddPosition(int dPos);
 
                /**
                 * Sets the simulated velocity of the CANCoder.
                 * 
                 * @param newVel the new velocity in native units per 100ms
                 *
                 * @return  error code
                 */
                ErrorCode SetVelocity(int newVel);
 
            private:
                int _id;
                ctre::phoenix::platform::DeviceType _type;
            };
        }
    }
}