TalonFXSensorCollection.h

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/* Copyright (C) Cross The Road Electronics 2024 */
#pragma once
 
#include "ctre/phoenix/ErrorCode.h"
 
/* forward proto's */
namespace ctre {
    namespace phoenix {
        namespace motorcontrol {
            namespace can {
                class BaseTalon;
            }
        }
    }
}
 
namespace ctre {
    namespace phoenix {
        namespace motorcontrol {
 
            /**
             * Collection of sensors available to the Talon FX.
             *
             * For best performance and update-rate,
             * we recommend using the configSelectedFeedbackSensor() and getSelectedSensor*() routines.
             * However there are occasions where accessing raw sensor values may be useful or convenient.
             * Particularly if you are seeding one sensor based on another, or need to circumvent sensor-phase.
             *
             * Use the GetTalonFXSensorCollection() routine inside your motor controller to create a sensor collection.
             *
             * @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 TalonFXSensorCollection {
            public:
                /**
                 * Constructor for TalonFXSensorCollection
                 * @param motorController Talon Motor Controller to connect Collection to
                 */
                TalonFXSensorCollection(ctre::phoenix::motorcontrol::can::BaseTalon& motorController);
 
                /**
                 * Get the IntegratedSensor position of the Talon FX, regardless of whether
                 *   it is actually being used for feedback.  The units are 2048 per rotation.
                 *  Note : Future versions of software may support scaling features (rotations, radians, degrees, etc) depending on the configuration.
                 * 
                 * This method relies on the Status 21 message, which has a default period of 240ms. For more
                 * information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html
                 *
                 * @return  the IntegratedSensor position.
                 */
 
                double GetIntegratedSensorPosition();
                /**
                 * Get the IntegratedSensor absolute position of the Talon FX, regardless of whether
                 *   it is actually being used for feedback.  This will be within one rotation (2048 units).
                 *   The signage and range will depend on the configuration.
                 *  Note : Future versions of software may support scaling features (rotations, radians, degrees, etc) depending on the configuration.
                 * 
                 * This method relies on the Status 21 message, which has a default period of 240ms. For more
                 * information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html
                 *
                 * @return  the IntegratedSensor absolute position.
                 */
                double GetIntegratedSensorAbsolutePosition();
                
                /**
                 * Get the IntegratedSensor velocity of the Talon FX, regardless of whether
                 *   it is actually being used for feedback.  
                 *   One unit represents one position unit per 100ms (2048 position units per 100ms).
                 *   The signage and range will depend on the configuration.
                 *  Note : Future versions of software may support scaling features (rotations, radians, degrees, etc) depending on the configuration.
                 * 
                 * This method relies on the Status 21 message, which has a default period of 240ms. For more
                 * information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html
                 *
                 * @return  the IntegratedSensor velocity.
                 */
                double GetIntegratedSensorVelocity();
 
                /**
                 * Set the IntegratedSensor reported position.  Typically this is used to "zero" the
                 *   sensor. This only works with IntegratedSensor.  To set the selected sensor position
                 *   regardless of what type it is, see SetSelectedSensorPosition in the motor controller class.
                 *
                 * @param   newPosition The position value to apply to the sensor.  
                 * @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.
                 */
                ErrorCode SetIntegratedSensorPosition(double newPosition, int timeoutMs = 0);
 
                /**
                 * Set the IntegratedSensor reported position based on the absolute position.
                 * This can also be done automatically on power boot depending on 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.
                 */
                ErrorCode SetIntegratedSensorPositionToAbsolute(int timeoutMs = 0);
 
                /**
                 * Is forward limit switch closed.
                 * 
                 * This method relies on the Status 1 message, which has a default period of 10ms. For more
                 * information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html
                 *
                 * @return  '1' iff forward limit switch is closed, 0 iff switch is open. This function works
                 *          regardless if limit switch feature is enabled.  Remote limit features do not impact this routine.
                 */
 
                int IsFwdLimitSwitchClosed();
 
                /**
                 * Is reverse limit switch closed.
                 * 
                 * This method relies on the Status 1 message, which has a default period of 10ms. For more
                 * information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html
                 *
                 * @return  '1' iff reverse limit switch is closed, 0 iff switch is open. This function works
                 *          regardless if limit switch feature is enabled.  Remote limit features do not impact this routine.
                 */
 
                int IsRevLimitSwitchClosed();
 
            private:
                void* _handle;
            };
 
        } // namespace motorcontrol
    } // namespace phoenix
} // namespace ctre