IMotorControllerEnhanced.h

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/* Copyright (C) Cross The Road Electronics 2024 */
#pragma once
 
#include "ctre/phoenix/motorcontrol/ControlMode.h"
#include "ctre/phoenix/motorcontrol/ControlFrame.h"
#include "ctre/phoenix/motorcontrol/IMotorController.h"
#include "ctre/phoenix/motorcontrol/IFollower.h"
#include "ctre/phoenix/motorcontrol/NeutralMode.h"
#include "ctre/phoenix/motorcontrol/FeedbackDevice.h"
#include "ctre/phoenix/motorcontrol/SensorCollection.h"
#include "ctre/phoenix/motorcontrol/SupplyCurrentLimitConfiguration.h"
#include "ctre/phoenix/motorcontrol/StatusFrame.h"
#include "ctre/phoenix/motorcontrol/LimitSwitchType.h"
#include "ctre/phoenix/motorcontrol/Faults.h"
#include "ctre/phoenix/motorcontrol/StickyFaults.h"
#include "ctre/phoenix/motorcontrol/VelocityMeasPeriod.h"
#include "ctre/phoenix/paramEnum.h"
#include "ctre/phoenix/motion/TrajectoryPoint.h"
#include "ctre/phoenix/motion/MotionProfileStatus.h"
#include "ctre/phoenix/ErrorCode.h"
 
namespace ctre {
namespace phoenix {
namespace motorcontrol {
 
/**
 * Interface for enhanced motor controllers
 */
class IMotorControllerEnhanced: public virtual IMotorController {
public:
    virtual ~IMotorControllerEnhanced() {
    }
 
    //------ Set output routines. ----------//
    /* in parent */
 
    //------ Invert behavior ----------//
    /* in parent */
 
    //----- Factory Default Configuration -----//
    /* in parent */
 
    //----- general output shaping ------------------//
    /* in parent */
 
    //------ Voltage Compensation ----------//
    /* in parent */
 
    //------ General Status ----------//
    /* in parent */
 
    //------ sensor selection ----------//
    /* expand the options */
    /**
     * Select the feedback device for the motor controller.
     *
     * @param feedbackDevice
     *            Feedback Device to select.
     * @param pidIdx
     *            0 for Primary closed-loop. 1 for auxiliary closed-loop.
     * @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.
     */
    virtual ErrorCode ConfigSelectedFeedbackSensor(
            FeedbackDevice feedbackDevice, int pidIdx = 0, int timeoutMs = 0) = 0;
    /**
     * Select the feedback device for the motor controller.
     *
     * @param feedbackDevice
     *            Feedback Device to select.
     * @param pidIdx
     *            0 for Primary closed-loop. 1 for auxiliary closed-loop.
     * @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.
     */
    virtual ErrorCode ConfigSelectedFeedbackSensor(
            RemoteFeedbackDevice feedbackDevice, int pidIdx = 0, int timeoutMs = 0) = 0;
 
    //------ Current Limit ----------//
    /**
     * Configures the supply-side current limit.
     * @param currLimitCfg  Current limit configuration
     * @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.
     */
    virtual ErrorCode ConfigSupplyCurrentLimit(const SupplyCurrentLimitConfiguration& currLimitConfigs, int timeoutMs = 50) = 0;
 
    //------- sensor status --------- //
    /* in parent */
 
    //------ status frame period changes ----------//
    /**
     * Sets the period of the given status frame.
     *
     * User ensure CAN Bus utilization is not high.
     *
     * This setting is not persistent and is lost when device is reset. If this
     * is a concern, calling application can use HasResetOccurred() to determine if the
     * status frame needs to be reconfigured.
     *
     * @param frame
     *            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.
     */
    virtual ErrorCode SetStatusFramePeriod(StatusFrame frame, uint8_t periodMs,
            int timeoutMs = 0) = 0;
    /**
     * Sets the period of the given status frame.
     *
     * User ensure CAN Bus utilization is not high.
     *
     * This setting is not persistent and is lost when device is reset. If this
     * is a concern, calling application can use HasResetOccurred() to determine if the
     * status frame needs to be reconfigured.
     *
     * @param frame
     *            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.
     */
    virtual ErrorCode SetStatusFramePeriod(StatusFrameEnhanced frame,
            uint8_t periodMs, int timeoutMs = 0) = 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.
     */
    virtual int GetStatusFramePeriod(StatusFrame frame, int timeoutMs = 0) = 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.
     */
    virtual int GetStatusFramePeriod(StatusFrameEnhanced frame, int timeoutMs = 0) = 0;
 
    //------ General Status ----------//
    /**
     * Gets the output current of the motor controller.
     * In the case of TalonSRX class, this routine returns supply current for legacy reasons.  In order to get the "true" output current, call GetStatorCurrent().
     * In the case of TalonFX class, this routine returns the true output stator current.
     *
     * [[deprecated("Use GetStatorCurrent/GetSupplyCurrent instead.")]]
     *
     * @return The output current (in amps).
     */
    virtual double GetOutputCurrent() = 0;
 
    //----- velocity signal conditionaing ------//
    /**
     * Sets the period over which velocity measurements are taken.
     *
     * @param period
     *            Desired period for the velocity measurement. @see
     *            com.ctre.phoenix.motorcontrol.VelocityMeasPeriod
     * @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.
     */
    virtual ErrorCode ConfigVelocityMeasurementPeriod(VelocityMeasPeriod period,
            int timeoutMs = 0)= 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.
     */
    virtual ErrorCode ConfigVelocityMeasurementWindow(int windowSize,
            int timeoutMs = 0)= 0;
 
    //------ remote limit switch ----------//
    /**
     * Configures the forward limit switch for a remote source. For example, a
     * CAN motor controller may need to monitor the Limit-F pin of another Talon
     * or CANifier.
     *
     * @param type
     *            Remote limit switch source. User can choose between a remote
     *            Talon SRX, CANifier, or deactivate the feature.
     * @param normalOpenOrClose
     *            Setting for normally open, normally closed, or disabled. This
     *            setting matches the Phoenix Tuner drop down.
     * @param deviceID
     *            Device ID of remote source (Talon SRX or CANifier device ID).
     * @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.
     */
    virtual ErrorCode ConfigForwardLimitSwitchSource(
            RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose,
            int deviceID, int timeoutMs = 0) = 0;
    /**
     * Configures the reverse limit switch for a remote source. For example, a
     * CAN motor controller may need to monitor the Limit-R pin of another Talon
     * or CANifier.
     *
     * @param type
     *            Remote limit switch source. User can choose between a remote
     *            Talon SRX, CANifier, or deactivate the feature.
     * @param normalOpenOrClose
     *            Setting for normally open, normally closed, or disabled. This
     *            setting matches the Phoenix Tuner drop down.
     * @param deviceID
     *            Device ID of remote source (Talon SRX or CANifier device ID).
     * @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.
     */
    virtual ErrorCode ConfigReverseLimitSwitchSource(
            RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose,
            int deviceID, int timeoutMs = 0) = 0;
 
    //------ local limit switch ----------//
    /**
     * Configures the forward limit switch for a remote source. For example, a
     * CAN motor controller may need to monitor the Limit-F pin of another Talon
     * or CANifier.
     *
     * @param type
     *            Remote limit switch source. User can choose between a remote
     *            Talon SRX, CANifier, or deactivate the feature.
     * @param normalOpenOrClose
     *            Setting for normally open, normally closed, or disabled. This
     *            setting matches the Phoenix Tuner drop down.
     * @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.
     */
    virtual ErrorCode ConfigForwardLimitSwitchSource(LimitSwitchSource type,
            LimitSwitchNormal normalOpenOrClose, int timeoutMs = 0)= 0;
    /**
     * Configures the reverse limit switch for a remote source. For example, a
     * CAN motor controller may need to monitor the Limit-R pin of another Talon
     * or CANifier.
     *
     * @param type
     *            Remote limit switch source. User can choose between a remote
     *            Talon SRX, CANifier, or deactivate the feature.
     * @param normalOpenOrClose
     *            Setting for normally open, normally closed, or disabled. This
     *            setting matches the Phoenix Tuner drop down.
     * @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.
     */
    virtual ErrorCode ConfigReverseLimitSwitchSource(LimitSwitchSource type,
            LimitSwitchNormal normalOpenOrClose, int timeoutMs = 0)= 0;
 
    //------ soft limit ----------//
    /* in parent */
 
    //------ General Close loop ----------//
    /* in parent */
 
    //------ Motion Profile Settings used in Motion Magic and Motion Profile ----------//
    /* in parent */
 
    //------ Motion Profile Buffer ----------//
    /* in parent */
 
    //------ error ----------//
    /* in parent */
 
    //------ Faults ----------//
    /* in parent */
 
    //------ Firmware ----------//
    /* in parent */
 
    //------ Custom Persistent Params ----------//
    /* in parent */
 
    //------ Generic Param API, typically not used ----------//
    /* in parent */
 
    //------ Misc. ----------//
    /* in parent */
 
}; // class IMotorControllerEnhanced
} // namespace motorcontrol
} // namespace phoenix
} // namespace ctre