InvertType.h

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/* Copyright (C) Cross The Road Electronics 2024 */
#pragma once
 
#include <string>
namespace ctre {
    namespace phoenix {
        namespace motorcontrol {
            /**
             * Choose the invert type of the motor controller.
             * None is the equivalent of SetInverted(false), where positive request yields positive voltage on M+.
             * InvertMotorOutput is the equivelant of SetInverted(true), where positive request yields positive voltage on M-.
             * FollowMaster/OpposeMaster will match/oppose a master Talon/Victor.  This requires device to be configured as a follower.
             */
            enum class InvertType {
                None = 0, //!< Same as SetInverted(false)
                InvertMotorOutput = 1, //!< Same as SetInverted(true)
                FollowMaster = 2, //!< Follow the invert of the master this MC is following.
                OpposeMaster = 3, //!< Opposite of the invert of the master this MC is following.
            };
            /**
             * Choose the invert type for a Talon FX based integrated motor controller.
             * CCW is the equivalent of SetInverted(false), CW is the equivalent of SetInverted(true).
             * FollowMaster/OpposeMaster will match/oppose a master Talon/Victor.  This requires device to be configured as a follower.
             *
             * @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")]]
            TalonFXInvertType {
                CounterClockwise = 0, //!< Same as SetInverted(false)
                Clockwise = 1, //!< Same as SetInverted(true)
                FollowMaster = 2, //!< Follow the invert of the master this MC is following.
                OpposeMaster = 3, //!< Opposite of the invert of the master this MC is following.
            };
        } // namespace motorcontrol
    } // namespace phoenix
} // namespace ctre