FeedbackDevice.h

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/* Copyright (C) Cross The Road Electronics 2024 */
#pragma once
 
#include "ctre/phoenix/ErrorCode.h"
#include <string>
 
namespace ctre {
    namespace phoenix {
        namespace motorcontrol {
            /**
             * Choose the feedback device for a motor controller.
             * Consult product specific documentation to determine what is available/supported.
             */
            enum class FeedbackDevice {
                /**
                 * Quadrature encoder
                 */
                QuadEncoder = 0,
                /**
                 * TalonFX supports an integrated sensor.
                 */
                IntegratedSensor = 1,
                /**
                 * Analog potentiometer/encoder
                 */
                Analog = 2,
                //3
                /**
                 * Tachometer
                 */
                Tachometer = 4,
                /**
                 * CTRE Mag Encoder in Absolute mode or
                 * any other device that uses PWM to encode its output
                 */
                PulseWidthEncodedPosition = 8,
                /**
                 * Sum0 + Sum1
                 */
                SensorSum = 9,
                /**
                 * Diff0 - Diff1
                 */
                SensorDifference = 10,
                /**
                 * Sensor configured in RemoteFilter0
                 */
                RemoteSensor0 = 11,
                /**
                 * Sensor configured in RemoteFilter1
                 */
                RemoteSensor1 = 12,
                //13
                /**
                 * Position and velocity will read 0.
                 */
                None = 14,
                /**
                 * Motor Controller will fake a sensor based on applied motor output.
                 */
                SoftwareEmulatedSensor = 15,
                /**
                 * CTR mag encoder configured in absolute, is the same
                 * as a PWM sensor.
                 */
                CTRE_MagEncoder_Absolute = PulseWidthEncodedPosition,
                /**
                 * CTR mag encoder configured in relative, is the same
                 * as an quadrature encoder sensor.
                 */
                CTRE_MagEncoder_Relative = QuadEncoder,
            };
            /**
             * Choose the feedback device for a Talon SRX
             */
            enum class TalonSRXFeedbackDevice {
                /**
                 * Quadrature encoder
                 */
                QuadEncoder = 0,
                //1
                /**
                 * Analog potentiometer/encoder
                 */
                Analog = 2,
                //3
                /**
                 * Tachometer
                 */
                Tachometer = 4,
                /**
                 * CTRE Mag Encoder in Absolute mode or
                 * any other device that uses PWM to encode its output
                 */
                PulseWidthEncodedPosition = 8,
                /**
                 * Sum0 + Sum1
                 */
                SensorSum = 9,
                /**
                 * Diff0 - Diff1
                 */
                SensorDifference = 10,
                /**
                 * Sensor configured in RemoteFilter0
                 */
                RemoteSensor0 = 11,
                /**
                 * Sensor configured in RemoteFilter1
                 */
                RemoteSensor1 = 12,
                //13
                /**
                 * Position and velocity will read 0.
                 */
                None = 14,
                /**
                 * Motor Controller will fake a sensor based on applied motor output.
                 */
                SoftwareEmulatedSensor = 15,
                /**
                 * CTR mag encoder configured in absolute, is the same
                 * as a PWM sensor.
                 */
                CTRE_MagEncoder_Absolute = PulseWidthEncodedPosition,
                /**
                 * CTR mag encoder configured in relative, is the same
                 * as an quadrature encoder sensor.
                 */
                CTRE_MagEncoder_Relative = QuadEncoder,
            };
            /**
             * Choose the feedback device for a Talon FX/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 TalonFXFeedbackDevice {
                //0
                /**
                 * TalonFX supports an integrated sensor.
                 */
                IntegratedSensor = 1,
                /**
                 * Sum0 + Sum1
                 */
                SensorSum = 9,
                /**
                 * Diff0 - Diff1
                 */
                SensorDifference = 10,
                /**
                 * Sensor configured in RemoteFilter0
                 */
                RemoteSensor0 = 11,
                /**
                 * Sensor configured in RemoteFilter1
                 */
                RemoteSensor1 = 12,
                //13
                /**
                 * Position and velocity will read 0.
                 */
                None = 14,
                /**
                 * Motor Controller will fake a sensor based on applied motor output.
                 */
                SoftwareEmulatedSensor = 15,
            };
            /**
             * Choose the remote feedback device for a motor controller.
             */
            enum class RemoteFeedbackDevice {
                /**
                 * [[deprecated("Use None instead.")]]
                 * Factory default setting for non-enhanced motor controllers
                 */
                RemoteFeedbackDevice_FactoryDefaultOff = 0,
                /**
                 * [[deprecated("Use None instead.")]]
                 * Factory default setting for non-enhanced motor controllers
                 */
                FactoryDefaultOff = RemoteFeedbackDevice_FactoryDefaultOff,
                /**
                 * [[deprecated("Use SensorSum instead.")]]
                 * Use Sum0 + Sum1
                 */
                RemoteFeedbackDevice_SensorSum = 9,
                /**
                 * Use Sum0 + Sum1
                 */
                SensorSum = RemoteFeedbackDevice_SensorSum,
                /**
                 * [[deprecated("Use SensorDifference instead.")]]
                 * Use Diff0 - Diff1
                 */
                RemoteFeedbackDevice_SensorDifference = 10,
                /**
                 * Use Diff0 - Diff1
                 */
                SensorDifference = RemoteFeedbackDevice_SensorDifference,
                /**
                 * [[deprecated("Use RemoteSensor0 instead.")]]
                 * Use the sensor configured
                 * in filter0
                 */
                RemoteFeedbackDevice_RemoteSensor0 = 11,
                /**
                 * Use the sensor configured
                 * in filter0
                 */
                RemoteSensor0 = RemoteFeedbackDevice_RemoteSensor0,
                /**
                 * [[deprecated("Use RemoteSensor1 instead.")]]
                 * Use the sensor configured
                 * in filter1
                 */
                RemoteFeedbackDevice_RemoteSensor1 = 12,
                /**
                 * Use the sensor configured
                 * in filter1
                 */
                RemoteSensor1 = RemoteFeedbackDevice_RemoteSensor1,
                //13
                /**
                 * [[deprecated("Use None instead.")]]
                 * Position and velocity will read 0.
                 */
                RemoteFeedbackDevice_None = 14,
                /**
                 * Position and velocity will read 0.
                 */
                None = RemoteFeedbackDevice_None,
                /**
                 * [[deprecated("Use SoftwareEmulatedSensor instead.")]]
                 * Motor Controller will fake a sensor based on applied motor output.
                 */
                RemoteFeedbackDevice_SoftwareEmulatedSensor = 15,
                /**
                 * Motor Controller will fake a sensor based on applied motor output.
                 */
                SoftwareEmulatedSensor = RemoteFeedbackDevice_SoftwareEmulatedSensor,
            };
            /**
             * Class to handle feedback device routines
             */
            class FeedbackDeviceRoutines {
            public:
                /**
                 * Gets the string representation of selected feedback device
                 * @param value feedback device to get string representation of
                 * @return String representation of selected feedback device
                 */
                static std::string toString(FeedbackDevice value) {
                    switch (value) {
                        case FeedbackDevice::QuadEncoder: return "QuadEncoder";
                        case FeedbackDevice::IntegratedSensor: return "Integrated Sensor";
                        case FeedbackDevice::Analog: return "Analog";
                        case FeedbackDevice::Tachometer: return "Tachometer";
                        case FeedbackDevice::PulseWidthEncodedPosition: return "PulseWidthEncodedPosition";
                        case FeedbackDevice::SensorSum: return "SensorSum";
                        case FeedbackDevice::SensorDifference: return "SensorDifference";
                        case FeedbackDevice::RemoteSensor0: return "RemoteSensor0";
                        case FeedbackDevice::RemoteSensor1: return "RemoteSensor1";
                        case FeedbackDevice::None: return "None";
                        case FeedbackDevice::SoftwareEmulatedSensor: return "SoftwareEmulatedSensor";
                        default: return "InvalidValue";
                    }
                }
                /**
                 * Gets the string representation of selected feedback device
                 * @param value feedback device to get string representation of
                 * @return String representation of selected feedback device
                 */
                static std::string toString(TalonSRXFeedbackDevice value) {
                    switch (value) {
                        case TalonSRXFeedbackDevice::QuadEncoder: return "QuadEncoder";
                        case TalonSRXFeedbackDevice::Analog: return "Analog";
                        case TalonSRXFeedbackDevice::Tachometer: return "Tachometer";
                        case TalonSRXFeedbackDevice::PulseWidthEncodedPosition: return "PulseWidthEncodedPosition";
                        case TalonSRXFeedbackDevice::SensorSum: return "SensorSum";
                        case TalonSRXFeedbackDevice::SensorDifference: return "SensorDifference";
                        case TalonSRXFeedbackDevice::RemoteSensor0: return "RemoteSensor0";
                        case TalonSRXFeedbackDevice::RemoteSensor1: return "RemoteSensor1";
                        case TalonSRXFeedbackDevice::None: return "None";
                        case TalonSRXFeedbackDevice::SoftwareEmulatedSensor: return "SoftwareEmulatedSensor";
                        default: return "InvalidValue";
                    }
                }
                /**
                 * Gets the string representation of selected feedback device
                 * @param value feedback device to get string representation of
                 * @return String representation of selected feedback device
                 */
                [[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 std::string toString(TalonFXFeedbackDevice value) {
                    switch (value) {
                        case TalonFXFeedbackDevice::IntegratedSensor: return "Integrated Sensor";
                        case TalonFXFeedbackDevice::SensorSum: return "SensorSum";
                        case TalonFXFeedbackDevice::SensorDifference: return "SensorDifference";
                        case TalonFXFeedbackDevice::RemoteSensor0: return "RemoteSensor0";
                        case TalonFXFeedbackDevice::RemoteSensor1: return "RemoteSensor1";
                        case TalonFXFeedbackDevice::None: return "None";
                        case TalonFXFeedbackDevice::SoftwareEmulatedSensor: return "SoftwareEmulatedSensor";
                        default: return "InvalidValue";
                    }
                }
                /**
                 * Gets the string representation of selected remote feedback device
                 * @param value remote feedback device to get string representation of
                 * @return String representation of selected remote feedback device
                 */
                static std::string toString(RemoteFeedbackDevice value) {
                    switch (value) {
                        case RemoteFeedbackDevice::FactoryDefaultOff: return "None (factory default value)";
                        case RemoteFeedbackDevice::None: return "None";
                        case RemoteFeedbackDevice::SensorSum: return "SensorSum";
                        case RemoteFeedbackDevice::SensorDifference: return "SensorDifference";
                        case RemoteFeedbackDevice::RemoteSensor0: return "RemoteSensor0";
                        case RemoteFeedbackDevice::RemoteSensor1: return "RemoteSensor1";
                        case RemoteFeedbackDevice::SoftwareEmulatedSensor: return "SoftwareEmulatedSensor";
                        default: return "InvalidValue";
                    }
                }
            };
        } // namespace motorcontrol
    } // namespace phoenix
} // namespace ctre