ControlMode.h

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/* Copyright (C) Cross The Road Electronics 2024 */
#pragma once
 
namespace ctre {
    namespace phoenix {
        namespace motorcontrol {
            /**
             * Choose the control mode for a motor controller.
             * Consult product specific documentation to determine what is available/supported.
             */
            enum class ControlMode {
                /**
                 * Percent output [-1,1]
                 */
                PercentOutput = 0,
                /**
                 * Position closed loop
                 */
                Position = 1,
                /**
                 * Velocity closed loop
                 */
                Velocity = 2,
                /**
                 * Input current closed loop
                 */
                Current = 3,
                /**
                 * Follow other motor controller
                 */
                Follower = 5,
                /**
                 * Motion Profile
                 */
                MotionProfile = 6,
                /**
                 * Motion Magic
                 */
                MotionMagic = 7,
                /**
                 * Motion Profile with auxiliary output
                 */
                MotionProfileArc = 10,
                /**
                 * Plays a single tone.  Frequency (hz) is passed into set.
                 */
                MusicTone = 13,
                /**
                 * Disable Motor Controller
                 */
                Disabled = 15,
            };
            /**
             * Choose the control mode for a TalonFX / Falcon 500.
             *
             * @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.
             */
            enum 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")]]
            TalonFXControlMode {
                /**
                 * Percent output [-1,1]
                 */
                PercentOutput = 0,
                /**
                 * Position closed loop
                 */
                Position = 1,
                /**
                 * Velocity closed loop
                 */
                Velocity = 2,
                /**
                 * Input current closed loop
                 */
                Current = 3,
                /**
                 * Follow other motor controller
                 */
                Follower = 5,
                /**
                 * Motion Profile
                 */
                MotionProfile = 6,
                /**
                 * Motion Magic
                 */
                MotionMagic = 7,
                /**
                 * Motion Profile with auxiliary output
                 */
                MotionProfileArc = 10,
                /**
                 * Plays a single tone.  Frequency (hz) is passed into set.
                 */
                MusicTone = 13,
                /**
                 * Disable Motor Controller
                 */
                Disabled = 15,
            };
 
            /**
             * Choose the control mode for a Talon SRX.
             */
            enum class TalonSRXControlMode {
                /**
                 * Percent output [-1,1]
                 */
                PercentOutput = 0,
                /**
                 * Position closed loop
                 */
                Position = 1,
                /**
                 * Velocity closed loop
                 */
                Velocity = 2,
                /**
                 * Input current closed loop
                 */
                Current = 3,
                /**
                 * Follow other motor controller
                 */
                Follower = 5,
                /**
                 * Motion Profile
                 */
                MotionProfile = 6,
                /**
                 * Motion Magic
                 */
                MotionMagic = 7,
                /**
                 * Motion Profile with auxiliary output
                 */
                MotionProfileArc = 10,
                /**
                 * Disable Motor Controller
                 */
                Disabled = 15,
            };
 
            /**
             * Choose the control mode for a Victor SPX.
             */
            enum class VictorSPXControlMode {
                /**
                 * Percent output [-1,1]
                 */
                PercentOutput = 0,
                /**
                 * Position closed loop
                 */
                Position = 1,
                /**
                 * Velocity closed loop
                 */
                Velocity = 2,
                /**
                 * Follow other motor controller
                 */
                Follower = 5,
                /**
                 * Motion Profile
                 */
                MotionProfile = 6,
                /**
                 * Motion Magic
                 */
                MotionMagic = 7,
                /**
                 * Motion Profile with auxiliary output
                 */
                MotionProfileArc = 10,
                /**
                 * Disable Motor Controller
                 */
                Disabled = 15,
            };
        }
    }
}