SensorInitializationStrategy.h

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/* Copyright (C) Cross The Road Electronics 2024 */
#pragma once
 
#include <string>
 
namespace ctre {
    namespace phoenix {
        namespace sensors {
 
            /**
             * Enum for how CANCoder should initialize its position register on boot.
             *
             * @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 SensorInitializationStrategy {
                /**
                 * On boot up, set position to zero.
                 */
                BootToZero = 0,
                /**
                 * On boot up, sync to the Absolute Position signal.  The Absolute position signal will be signed according to the selected Absolute Sensor Range.
                 */
                BootToAbsolutePosition = 1,
            };
 
            /**
             * Class to handle routines specific to VelocityMeasPeriod
             *
             * @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.
             */
            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")]]
            SensorInitializationStrategyRoutines {
            public:
                /**
                 * String representation of specified SensorInitializationStrategy
                 * @param value CANCoderVelocityMeasPeriod to convert to a string
                 * @return string representation of SensorInitializationStrategy
                 */
                static std::string toString(SensorInitializationStrategy value) {
                    switch (value) {
                    case BootToZero: return "On boot up, set position to zero.";
                    case BootToAbsolutePosition: return " On boot up, sync to the Absolute Position signal.";
                    default: return "InvalidValue";
                    }
                }
            };
 
        } // namespace sensors
    } // namespace phoenix
} // namespace ctre