RemoteSensorSource.h

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/* Copyright (C) Cross The Road Electronics 2024 */
#pragma once
 
#include <string>
 
namespace ctre {
namespace phoenix {
namespace motorcontrol {
 
/**
 * Choose the remote sensor source for a motor controller 
 */
enum class RemoteSensorSource {
    /**
     * Don't use a sensor
     */
    RemoteSensorSource_Off,
    /**
     * Use a sensor connected to
     * a TalonSRX and configured on
     * the TalonSRX
     */
    RemoteSensorSource_TalonSRX_SelectedSensor,
    /**
     * Use a CAN Pigeon's Yaw value
     */
    RemoteSensorSource_Pigeon_Yaw,
    /**
     * Use a CAN Pigeon's Pitch value
     */
    RemoteSensorSource_Pigeon_Pitch,
    /**
     * Use a CAN Pigeon's Roll value
     */
    RemoteSensorSource_Pigeon_Roll,
    /**
     * Use a quadrature sensor
     * connected to a CANifier
     */
    RemoteSensorSource_CANifier_Quadrature,
    /**
     * Use a PWM sensor connected
     * to CANifier's PWM0
     */
    RemoteSensorSource_CANifier_PWMInput0,
    /**
     * Use a PWM sensor connected
     * to CANifier's PWM1
     */
    RemoteSensorSource_CANifier_PWMInput1,
    /**
     * Use a PWM sensor connected
     * to CANifier's PWM2
     */
    RemoteSensorSource_CANifier_PWMInput2,
    /**
     * Use a PWM sensor connected
     * to CANifier's PWM3
     */
    RemoteSensorSource_CANifier_PWMInput3,
    /**
     * Use the yaw value of a pigeon
     * connected to a talon over ribbon cable
     */
    RemoteSensorSource_GadgeteerPigeon_Yaw,
    /**
     * Use the pitch value of a pigeon
     * connected to a talon over ribbon cable
     */
    RemoteSensorSource_GadgeteerPigeon_Pitch,
    /**
     * Use the roll value of a pigeon
     * connected to a talon over ribbon cable
     */
    RemoteSensorSource_GadgeteerPigeon_Roll,
    /**
     * Use CANCoder
     */
    RemoteSensorSource_CANCoder,
    /**
     * Remote Sensor Source 14 is reserved
     */
 
    /**
     * Use a sensor connected to
     * a TalonFX and configured on
     * the TalonFX
     */
    RemoteSensorSource_TalonFX_SelectedSensor = RemoteSensorSource_TalonSRX_SelectedSensor,
};
/**
 * Class used to get string representation of a remote sensor source
 */
class RemoteSensorSourceRoutines {
public:
    /**
     * Get string representation of specified remote sensor source
     * @param value remote sensor source to get string of
     * @return string representation of specified remote sensor source
     */
    static std::string toString(RemoteSensorSource value) {
        switch(value) {
            case RemoteSensorSource::RemoteSensorSource_Off                     : return "RemoteSensorSource::RemoteSensorSource_Off";
            case RemoteSensorSource::RemoteSensorSource_TalonSRX_SelectedSensor : return "RemoteSensorSource::RemoteSensorSource_TalonSRX_SelectedSensor";
            case RemoteSensorSource::RemoteSensorSource_Pigeon_Yaw              : return "RemoteSensorSource::RemoteSensorSource_Pigeon_Yaw";
            case RemoteSensorSource::RemoteSensorSource_Pigeon_Pitch            : return "RemoteSensorSource::RemoteSensorSource_Pigeon_Pitch";
            case RemoteSensorSource::RemoteSensorSource_Pigeon_Roll             : return "RemoteSensorSource::RemoteSensorSource_Pigeon_Roll";
            case RemoteSensorSource::RemoteSensorSource_CANifier_Quadrature     : return "RemoteSensorSource::RemoteSensorSource_CANifier_Quadrature";
            case RemoteSensorSource::RemoteSensorSource_CANifier_PWMInput0      : return "RemoteSensorSource::RemoteSensorSource_CANifier_PWMInput0";
            case RemoteSensorSource::RemoteSensorSource_CANifier_PWMInput1      : return "RemoteSensorSource::RemoteSensorSource_CANifier_PWMInput1";
            case RemoteSensorSource::RemoteSensorSource_CANifier_PWMInput2      : return "RemoteSensorSource::RemoteSensorSource_CANifier_PWMInput2";
            case RemoteSensorSource::RemoteSensorSource_CANifier_PWMInput3      : return "RemoteSensorSource::RemoteSensorSource_CANifier_PWMInput3";
            case RemoteSensorSource::RemoteSensorSource_GadgeteerPigeon_Yaw     : return "RemoteSensorSource::RemoteSensorSource_GadgeteerPigeon_Yaw";
            case RemoteSensorSource::RemoteSensorSource_GadgeteerPigeon_Pitch   : return "RemoteSensorSource::RemoteSensorSource_GadgeteerPigeon_Pitch";
            case RemoteSensorSource::RemoteSensorSource_GadgeteerPigeon_Roll    : return "RemoteSensorSource::RemoteSensorSource_GadgeteerPigeon_Roll";
            case RemoteSensorSource::RemoteSensorSource_CANCoder                : return "RemoteSensorSource::RemoteSensorSource_CANCoder";
            default : return "InvalidValue"; 
        }
    }
};
}
}
}