TalonFXSimCollection.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 simulation commands available to a TalonFX motor controller.
             *
             * Use the getSimCollection() routine inside your motor controller to create the respective sim 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 TalonFXSimCollection {
            public:
                /**
                 * Constructor for TalonFXSimCollection
                 * @param motorController TalonFX Motor Controller to connect Collection to
                 */
                TalonFXSimCollection(ctre::phoenix::motorcontrol::can::BaseTalon& motorController);
 
                /**
                 * Gets the last error generated by this object. Not all functions return an
                 * error code but can potentially report errors. This function can be used
                 * to retrieve those error codes.
                 *
                 * @return Last Error Code generated by a function.
                 */
                ErrorCode GetLastError();
 
                /**
                 * Gets the simulated output voltage across M+ and M- for the motor.
                 * 
                 * @return applied voltage to the motor in volts
                 */
                double GetMotorOutputLeadVoltage();
 
                /**
                 * Sets the simulated bus voltage of the TalonFX.
                 * 
                 * The minimum allowed bus voltage is 4 V - values 
                 * below this will be promoted to 4 V.
                 * 
                 * @param vbat the bus voltage in volts
                 *
                 * @return  error code
                 */
                ErrorCode SetBusVoltage(double vbat);
 
                /**
                 * Sets the simulated supply current of the TalonFX.
                 * 
                 * @param currA the supply current in amps
                 *
                 * @return  error code
                 */
                ErrorCode SetSupplyCurrent(double currA);
 
                /**
                 * Sets the simulated stator current of the TalonFX.
                 * 
                 * @param currA the stator current in amps
                 *
                 * @return  error code
                 */
                ErrorCode SetStatorCurrent(double currA);
 
                /**
                 * Sets the simulated forward limit switch of the TalonFX.
                 * 
                 * @param isClosed true if the limit switch is closed
                 *
                 * @return  error code
                 */
                ErrorCode SetLimitFwd(bool isClosed);
 
                /**
                 * Sets the simulated reverse limit switch of the TalonFX.
                 * 
                 * @param isClosed true if the limit switch is closed
                 *
                 * @return  error code
                 */
                ErrorCode SetLimitRev(bool isClosed);
 
                /**
                 * Sets the simulated raw integrated sensor position of the TalonFX. 
                 *
                 * The TalonFX integrates this to calculate the true reported integrated sensor 
                 * position. 
                 *
                 * When using the WPI Sim GUI, you will notice a readonly 'position' and 
                 * settable 'rawPositionInput'.  The readonly signal is the emulated position 
                 * which will match self-test in Tuner and the hardware API.  Changes to 
                 * 'rawPositionInput' will be integrated into the emulated position.  This way 
                 * a simulator can modify the position without overriding your 
                 * hardware API calls for home-ing your sensor. 
                 *
                 * Inputs to this function over time should be continuous, 
                 * as user calls of SetSelectedSensorPosition() and SetIntegratedSensorPosition() 
                 * will be accounted for in the calculation.
                 * 
                 * @param newPos the new raw position in native units
                 *
                 * @return  error code
                 */
                ErrorCode SetIntegratedSensorRawPosition(int newPos);
 
                /**
                 * Adds to the simulated integrated sensor position of the TalonFX.
                 * 
                 * @param dPos the change in position in native units
                 *
                 * @return  error code
                 */
                ErrorCode AddIntegratedSensorPosition(int dPos);
 
                /**
                 * Sets the simulated integrated sensor velocity of the TalonFX.
                 * 
                 * @param newVel the new velocity in native units per 100ms
                 *
                 * @return  error code
                 */
                ErrorCode SetIntegratedSensorVelocity(int newVel);
 
            private:
                int _id;
 
            };
 
        } // namespace motorcontrol
    } // namespace phoenix
} // namespace ctre