TalonFX.h

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/* Copyright (C) Cross The Road Electronics 2024 */
#pragma once
#if defined(WIN32) || defined(_WIN32) || defined(_WIN64)
#pragma warning (push)
#pragma warning (disable : 4250)
#endif
 
#include "ctre/phoenix/motorcontrol/can/BaseTalon.h"
#include "ctre/phoenix/motorcontrol/IMotorControllerEnhanced.h"
#include "ctre/phoenix/motorcontrol/MotorCommutation.h"
#include "ctre/phoenix/motorcontrol/StatorCurrentLimitConfiguration.h"
#include "ctre/phoenix/CustomParamConfiguration.h"
#include "ctre/phoenix/sensors/AbsoluteSensorRange.h"
#include "ctre/phoenix/sensors/SensorInitializationStrategy.h"
 
namespace ctre {
    namespace phoenix {
        namespace motorcontrol {
            namespace can {
 
                /**
                 * Configurables available to TalonFX's PID
                 *
                 * @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.
                 */
                struct [[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")]]
                TalonFXPIDSetConfiguration : BaseTalonPIDSetConfiguration { };
 
                /**
                 * Configurables available to TalonFX
                 *
                 * @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.
                 */
                struct TalonFXConfiguration : BaseTalonConfiguration {
 
                    /**
                     * Supply-side current limiting.  This is typically used to prevent breakers from tripping.
                     */
                    SupplyCurrentLimitConfiguration supplyCurrLimit;
                    /**
                     * Stator-side current limiting.  This is typically used to limit acceleration/torque and heat generation.
                     */
                    StatorCurrentLimitConfiguration statorCurrLimit;
 
                    /**
                     * Choose the type of motor commutation.
                     */
                    ctre::phoenix::motorcontrol::MotorCommutation motorCommutation = ctre::phoenix::motorcontrol::MotorCommutation::Trapezoidal;
 
                    /**
                     * Desired Sign / Range for the absolute position register.
                     * Choose unsigned for an absolute range of[0, +1) rotations, [0, 360) deg, etc.
                     * Choose signed for an absolute range of[-0.5, +0.5) rotations, [-180, +180) deg, etc.
                     */
                    ctre::phoenix::sensors::AbsoluteSensorRange absoluteSensorRange = ctre::phoenix::sensors::AbsoluteSensorRange::Unsigned_0_to_360;
                    /**
                     * Adjusts the zero point for the absolute position register.
                     * The absolute position of the sensor will always have a discontinuity (360 -> 0 deg) or (+180 -> -180)
                     * and a hard-limited mechanism may have such a discontinuity in its functional range.
                     * In which case use this config to move the discontinuity outside of the function range.
                     */
                    double integratedSensorOffsetDegrees = 0;
                    /**
                     * The sensor initialization strategy to use.This will impact the behavior the next time device boots up.
                     *
                     * Pick the strategy on how to initialize the "Position" register.  Depending on the mechanism,
                     * it may be desirable to auto set the Position register to match the Absolute Position(swerve for example).
                     * Or it may be desired to zero the sensor on boot(drivetrain translation sensor or a relative servo).
                     *
                     * TIP: Tuner's self-test feature will report what the boot sensor value will be in the event the device is reset.
                     */
                    ctre::phoenix::sensors::SensorInitializationStrategy initializationStrategy = ctre::phoenix::sensors::SensorInitializationStrategy::BootToZero;
 
                    [[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")]]
                    TalonFXConfiguration() : BaseTalonConfiguration(FeedbackDevice::IntegratedSensor)
                    {
                    }
 
                    /**
                     * @return String representation of all the configs
                     */
                    std::string toString() {
                        return toString("");
                    }
 
                    /**
                     * @param prependString
                     *              String to prepend to all the configs
                     * @return String representation of all the configs
                     */
                    std::string toString(std::string prependString) {
 
                        std::string retstr;     
                        retstr += prependString + ".supplyCurrLimit = " + supplyCurrLimit.ToString() + ";\n";
                        retstr += prependString + ".statorCurrLimit = " + statorCurrLimit.ToString() + ";\n";
                        retstr += prependString + ".motorCommutation = " + std::to_string((int)motorCommutation) + ";\n";
                        retstr += prependString + ".absoluteSensorRange = " + std::to_string(absoluteSensorRange) + ";\n";
                        retstr += prependString + ".integratedSensorOffsetDegrees = " + std::to_string(integratedSensorOffsetDegrees) + ";\n";
                        retstr += prependString + ".initializationStrategy = " + std::to_string(initializationStrategy) + ";\n";
                        retstr += BaseTalonConfiguration::toString(prependString);
 
                        return retstr;
                    }
                 };// struct TalonFXConfiguration
 
                /**
                 * Util class to help with talon configs
                 *
                 * @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")]]
                TalonFXConfigUtil : BaseTalonConfigUtil { 
                private:
                    static struct TalonFXConfiguration _default;
                public:
                    /**
                     * Determine if specified value is different from default
                     * @param settings settings to compare against
                     * @return if specified value is different from default
                     * @{
                     */
                    [[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 bool SupplyCurrentLimitDifferent(const TalonFXConfiguration& settings) { return (!settings.supplyCurrLimit.Equals(_default.supplyCurrLimit)) || !settings.enableOptimizations; }
                    [[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 bool StatorCurrentDurationDifferent(const TalonFXConfiguration& settings) { return (!settings.statorCurrLimit.Equals(_default.statorCurrLimit)) || !settings.enableOptimizations; }
                    [[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 bool MotorCommutationDifferent(const TalonFXConfiguration& settings) { return (settings.motorCommutation != _default.motorCommutation) || !settings.enableOptimizations; }
                    [[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 bool AbsoluteSensorRangeDifferent(const TalonFXConfiguration& settings) { return (settings.absoluteSensorRange != _default.absoluteSensorRange) || !settings.enableOptimizations; }
                    [[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 bool IntegratedSensorOffsetDegreesDifferent(const TalonFXConfiguration& settings) { return (settings.integratedSensorOffsetDegrees != _default.integratedSensorOffsetDegrees) || !settings.enableOptimizations; }
                    [[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 bool InitializationStrategyDifferent(const TalonFXConfiguration& settings) { return (settings.initializationStrategy != _default.initializationStrategy) || !settings.enableOptimizations; }
                    /** @} */
                };
 
                /**
                 * CTRE Talon FX Motor Controller when used on CAN Bus.
                 *
                 * <pre>
                 * {@code
                 * // Example usage of a TalonFX motor controller
                 * TalonFX motor{0}; // creates a new TalonFX with ID 0
                 *
                 * TalonFXConfiguration config;
                 * config.supplyCurrLimit.enable = true;
                 * config.supplyCurrLimit.triggerThresholdCurrent = 40; // the peak supply current, in amps
                 * config.supplyCurrLimit.triggerThresholdTime = 1.5; // the time at the peak supply current before the limit triggers, in sec
                 * config.supplyCurrLimit.currentLimit = 30; // the current to maintain if the peak supply limit is triggered
                 * motor.ConfigAllSettings(config); // apply the config settings; this selects the quadrature encoder
                 *
                 * motor.Set(TalonFXControlMode::PercentOutput, 0.5); // runs the motor at 50% power
                 *
                 * std::cout << motor.GetSelectedSensorPosition() << std::endl; // prints the position of the selected sensor
                 * std::cout << motor.GetSelectedSensorVelocity() << std::endl; // prints the velocity recorded by the selected sensor
                 * std::cout << motor.GetMotorOutputPercent() << std::endl; // prints the percent output of the motor (0.5)
                 * std::cout << motor.GetStatorCurrent() << std::endl; // prints the output current of the motor
                 *
                 * ErrorCode error = motor.GetLastError(); // gets the last error generated by the motor controller
                 * Faults faults;
                 * ErrorCode faultsError = motor.GetFaults(faults); // fills faults with the current motor controller faults; returns the last error generated
                 *
                 * motor.SetStatusFramePeriod(StatusFrameEnhanced::Status_2_Feedback0, 10); // changes the period of the Status 2 frame (GetSelectedSensor*()) to 10ms
                 * }
                 * </pre>
                 *
                 * @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")]]
                TalonFX : public virtual BaseTalon
                {
                private:
 
                public:
                    /**
                     * Constructor for a Talon
                     * @param deviceNumber CAN Device ID of TalonFX
                     * @param canbus Name of the CANbus; can be a SocketCAN interface (on Linux),
                     *               or a CANivore device name or serial number
                     */
                    TalonFX(int deviceNumber, std::string const &canbus = "");
                    ~TalonFX();
                    TalonFX() = delete;
                    TalonFX(TalonFX const&) = delete;
                    TalonFX& operator=(TalonFX const&) = delete;
                    // ------ Set output routines. ----------//
                    /**
                     * Sets the appropriate output on the talon, depending on the mode.
                     * @param mode The output mode to apply.
                     * In PercentOutput, the output is between -1.0 and 1.0, with 0.0 as stopped.
                     * In Current mode, output value is in amperes.
                     * In Velocity mode, output value is in position change / 100ms.
                     * In Position mode, output value is in encoder ticks or an analog value,
                     *   depending on the sensor.
                     * In Follower mode, the output value is the integer device ID of the talon to
                     * duplicate.
                     *
                     * @param value The setpoint value, as described above.
                     *
                     *
                     *  Standard Driving Example:
                     *  _talonLeft.set(ControlMode.PercentOutput, leftJoy);
                     *  _talonRght.set(ControlMode.PercentOutput, rghtJoy);
                     */
                    [[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")]]
                    void Set(TalonFXControlMode mode, double value);
                    /**
                     * @param mode Sets the appropriate output on the talon, depending on the mode.
                     * @param demand0 The output value to apply.
                     *  such as advanced feed forward and/or auxiliary close-looping in firmware.
                     * In PercentOutput, the output is between -1.0 and 1.0, with 0.0 as stopped.
                     * In Current mode, output value is in amperes.
                     * In Velocity mode, output value is in position change / 100ms.
                     * In Position mode, output value is in encoder ticks or an analog value,
                     *   depending on the sensor. See
                     * In Follower mode, the output value is the integer device ID of the talon to
                     * duplicate.
                     *
                     * @param demand1Type The demand type for demand1.
                     * Neutral: Ignore demand1 and apply no change to the demand0 output.
                     * AuxPID: Use demand1 to set the target for the auxiliary PID 1.  Auxiliary
                     *   PID is always executed as standard Position PID control.
                     * ArbitraryFeedForward: Use demand1 as an arbitrary additive value to the
                     *   demand0 output.  In PercentOutput the demand0 output is the motor output,
                     *   and in closed-loop modes the demand0 output is the output of PID0.
                     * @param demand1 Supplmental output value.
                     * AuxPID: Target position in Sensor Units
                     * ArbitraryFeedForward: Percent Output between -1.0 and 1.0
                     *
                     *
                     *  Arcade Drive Example:
                     *      _talonLeft.set(ControlMode.PercentOutput, joyForward, DemandType.ArbitraryFeedForward, +joyTurn);
                     *      _talonRght.set(ControlMode.PercentOutput, joyForward, DemandType.ArbitraryFeedForward, -joyTurn);
                     *
                     *  Drive Straight Example:
                     *  Note: Selected Sensor Configuration is necessary for both PID0 and PID1.
                     *      _talonLeft.follow(_talonRght, FollwerType.AuxOutput1);
                     *      _talonRght.set(ControlMode.PercentOutput, joyForward, DemandType.AuxPID, desiredRobotHeading);
                     *
                     *  Drive Straight to a Distance Example:
                     *  Note: Other configurations (sensor selection, PID gains, etc.) need to be set.
                     *      _talonLeft.follow(_talonRght, FollwerType.AuxOutput1);
                     *      _talonRght.set(ControlMode.MotionMagic, targetDistance, DemandType.AuxPID, desiredRobotHeading);
                     */
                    [[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")]]
                    void Set(TalonFXControlMode mode, double demand0, DemandType demand1Type, double demand1);
                    //------ Invert behavior ----------//
                    /**
                     * Inverts the hbridge output of the motor controller in relation to the master if present
                     *
                     * This does not impact sensor phase and should not be used to correct sensor polarity.
                     *
                     * This will allow you to either:
                     *  - Not invert the motor
                     *  - Invert the motor
                     *  - Always follow the master regardless of master's inversion
                     *  - Always oppose the master regardless of master's inversion
                     *
                     * @param invertType
                     *            Invert state to set.
                     */
                    [[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")]]
                    void SetInverted(TalonFXInvertType invertType);
                    //------ sensor selection ----------//
                    /**
                     * Select the feedback device for the motor controller.
                     *
                     * @param feedbackDevice
                     *            Talon FX 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.
                     */
                    [[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")]]
                    ctre::phoenix::ErrorCode ConfigSelectedFeedbackSensor(TalonFXFeedbackDevice feedbackDevice, int pidIdx = 0, int timeoutMs = 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.
                     */
                    [[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")]]
                    ctre::phoenix::ErrorCode ConfigSupplyCurrentLimit(const ctre::phoenix::motorcontrol::SupplyCurrentLimitConfiguration& currLimitConfigs, int timeoutMs = 50);
                    /**
                     * Configures the stator (output) 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.
                     */
                    [[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")]]
                    ctre::phoenix::ErrorCode ConfigStatorCurrentLimit(const ctre::phoenix::motorcontrol::StatorCurrentLimitConfiguration& currLimitConfigs, int timeoutMs = 50);
                    /**
                     * Gets the supply current limit configuration.
                     * @param currLimitConfigsToFill  Configuration object to fill with read values.
                     * @param timeoutMs
                     *            Timeout value in ms. If nonzero, function will wait for
                     *            config success and report an error if it times out.
                     * @return Error Code generated by function. 0 indicates no error.
                     */
                    [[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")]]
                    ctre::phoenix::ErrorCode ConfigGetSupplyCurrentLimit(ctre::phoenix::motorcontrol::SupplyCurrentLimitConfiguration& currLimitConfigsToFill, int timeoutMs = 50);
                    /**
                     * Gets the stator (output) current limit configuration.
                     * @param currLimitConfigsToFill  Configuration object to fill with read values.
                     * @param timeoutMs
                     *            Timeout value in ms. If nonzero, function will wait for
                     *            config success and report an error if it times out.
                     * @return Error Code generated by function. 0 indicates no error.
                     */
                    [[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")]]
                    ctre::phoenix::ErrorCode ConfigGetStatorCurrentLimit(ctre::phoenix::motorcontrol::StatorCurrentLimitConfiguration& currLimitConfigsToFill, int timeoutMs = 50);
 
                    //------ RAW Sensor API ----------//
                    /**
                     * @return object that can get/set individual RAW sensor values.
                     */
                    [[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")]]
                    ctre::phoenix::motorcontrol::TalonFXSensorCollection& GetSensorCollection();
 
                    //------ Simulation API ----------//
                    /**
                     * @return object that can set simulation inputs.
                     */
                    [[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")]]
                    ctre::phoenix::motorcontrol::TalonFXSimCollection& GetSimCollection();
 
                    //------ All Configs ----------//
 
                    /**
                     * Sets all PID persistant settings.
                     *
                     * @param pid               Object with all of the PID set persistant settings
                     * @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.
                     */
                    [[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")]]
                    ctre::phoenix::ErrorCode ConfigurePID(const TalonFXPIDSetConfiguration& pid, int pidIdx = 0, int timeoutMs = 50);
                    /**
                    * Gets all PID set persistant settings.
                    *
                    * @param pid               Object with all of the PID set persistant settings
                    * @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.
                    */
                    [[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")]]
                    void GetPIDConfigs(TalonFXPIDSetConfiguration& pid, int pidIdx = 0, int timeoutMs = 50);
 
                    /**
                     * Configures all persistent settings.
                     *
                     * @param allConfigs        Object with all of the persistant settings
                     * @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.
                     */
                    [[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")]]
                    ctre::phoenix::ErrorCode ConfigAllSettings(const TalonFXConfiguration& allConfigs, int timeoutMs = 50);
                    /**
                     * Gets all persistant settings.
                     *
                     * @param allConfigs        Object with all of the persistant settings
                     * @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.
                     */
                    [[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")]]
                    void GetAllConfigs(TalonFXConfiguration& allConfigs, int timeoutMs = 50);
                    /**
                     * Configure the motor commutation type.
                     *
                     * @param motorCommutation  Motor Commutation Type.
                     *
                     * @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.
                     */
                    [[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")]]
                    ctre::phoenix::ErrorCode ConfigMotorCommutation(ctre::phoenix::motorcontrol::MotorCommutation motorCommutation, int timeoutMs = 0);
                    /**
                     * @param timeoutMs
                     *            Timeout value in ms. If nonzero, function will wait for config
                     *            success and report an error if it times out.
                     * @return  The motor commutation type.
                     */
                    [[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")]]
                    ctre::phoenix::ErrorCode ConfigGetMotorCommutation(ctre::phoenix::motorcontrol::MotorCommutation & motorCommutation, int timeoutMs = 0);
 
                    /**
                 * Sets the signage and range of the "Absolute Position" signal.
                 * Choose unsigned for an absolute range of [0,+1) rotations, [0,360) deg, etc...
                 * Choose signed for an absolute range of [-0.5,+0.5) rotations, [-180,+180) deg, etc...
                 * @param absoluteSensorRange
                 *            Desired Sign/Range for the absolute position register.
                 * @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.
                 */
                    [[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")]]
                    ErrorCode ConfigIntegratedSensorAbsoluteRange(ctre::phoenix::sensors::AbsoluteSensorRange absoluteSensorRange, int timeoutMs = 0);
                    /**
                     * Adjusts the zero point for the absolute position register.
                     * The absolute position of the sensor will always have a discontinuity (360 -> 0 deg) or (+180 -> -180)
                     * and a hard-limited mechanism may have such a discontinuity in its functional range.
                     * In which case use this config to move the discontinuity outside of the function range.
                     * @param offsetDegrees
                     *            Offset in degrees (unit string and coefficient DO NOT apply for this config).
                     * @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.
                     */
                    ErrorCode ConfigIntegratedSensorOffset(double offsetDegrees, int timeoutMs = 0);
                    /**
                     * Pick the strategy on how to initialize the integrated sensor absolute position register.  Depending on the mechanism,
                     * it may be desirable to auto set the Position register to match the Absolute Position (swerve for example).
                     * Or it may be desired to zero the sensor on boot (drivetrain translation sensor or a relative servo).
                     *
                     * TIP: Tuner's self-test feature will report what the boot sensor value will be in the event the product is reset.
                     *
                     * @param initializationStrategy
                     *            The sensor initialization strategy to use.  This will impact the behavior the next time product boots up.
                     * @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.
                     */
                    [[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")]]
                    ErrorCode ConfigIntegratedSensorInitializationStrategy(ctre::phoenix::sensors::SensorInitializationStrategy initializationStrategy, int timeoutMs = 0);
 
                    /* ----- virtual re-directs ------- */
                    virtual void Set(ControlMode mode, double value);
                    virtual void Set(ControlMode mode, double demand0, DemandType demand1Type, double demand1);
                    virtual void SetInverted(InvertType invertType);
                    virtual void SetInverted(bool bInvert);
                    [[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")]]
                    virtual ctre::phoenix::ErrorCode ConfigSelectedFeedbackSensor(FeedbackDevice feedbackDevice, int pidIdx = 0, int timeoutMs = 0);
                    [[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")]]
                    virtual ctre::phoenix::ErrorCode ConfigSelectedFeedbackSensor(RemoteFeedbackDevice feedbackDevice, int pidIdx = 0, int timeoutMs = 0);
 
                };// class TalonFX
 
            } // namespace can
        } // namespace motorcontrol
    } // namespace phoenix
} // namespace ctre
 
#if defined(WIN32) || defined(_WIN32) || defined(_WIN64)
#pragma warning (pop)
#endif