DemandType.h

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/* Copyright (C) Cross The Road Electronics 2024 */
#pragma once
 
namespace ctre {
namespace phoenix {
namespace motorcontrol {
/**
 * How to interpret a demand value.
 */
enum DemandType {
    /**
     * Ignore the demand value and apply neutral/no-change.
     */
    DemandType_Neutral = 0,
    /**
     * When closed-looping, set the target of the aux PID loop to the demand value.
     *
     * When following, follow the processed output of the combined 
     * primary/aux PID output of the master.  The demand value is ignored.
     * Although it is much cleaner to use the 2-param Follow() in such cases.
     */
    DemandType_AuxPID = 1, //!< Target value of Aux PID loop 1.
    /**
     * When closed-looping, add demand arbitrarily to the closed-loop output.
     */
    DemandType_ArbitraryFeedForward = 2, //!< Simply add to the output
};
 
} // namespace motorcontrol
} // namespace phoenix
} // namespace ctre