TalonSRX.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/CustomParamConfiguration.h"
 
/* forward proto's */
namespace ctre {
    namespace phoenix {
        namespace motorcontrol {
            class SensorCollection;
            class TalonSRXSimCollection;
        }
    }
}
 
namespace ctre {
    namespace phoenix {
        namespace motorcontrol {
            namespace can {
 
                /**
                 * Configurables available to TalonSRX's PID
                 */
                struct TalonSRXPIDSetConfiguration : BaseTalonPIDSetConfiguration { };
                /**
                 * Configurables available to TalonSRX
                 */
                struct TalonSRXConfiguration : BaseTalonConfiguration {
 
                    /**
                     * Peak current in amps
                     *
                     * Current limit is activated when current exceeds the peak limit for longer
                     * than the peak duration. Then software will limit to the continuous limit.
                     * This ensures current limiting while allowing for momentary excess current
                     * events.
                     */
                    int peakCurrentLimit;
                    /**
                     * Peak Current duration in milliseconds
                     *
                     * Current limit is activated when current exceeds the peak limit for longer
                     * than the peak duration. Then software will limit to the continuous limit.
                     * This ensures current limiting while allowing for momentary excess current
                     * events.
                     */
                    int peakCurrentDuration;
                    /**
                     * Continuous current in amps
                     *
                     * Current limit is activated when current exceeds the peak limit for longer
                     * than the peak duration. Then software will limit to the continuous limit.
                     * This ensures current limiting while allowing for momentary excess current
                     * events.
                     */
                    int continuousCurrentLimit;
                    TalonSRXConfiguration() :
                        BaseTalonConfiguration(FeedbackDevice::QuadEncoder),
                        peakCurrentLimit(1),
                        peakCurrentDuration(1),
                        continuousCurrentLimit(1)
                    {
                    }
 
                    /**
                     * @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 + ".peakCurrentLimit = " + std::to_string(peakCurrentLimit) + ";\n";
                        retstr += prependString + ".peakCurrentDuration = " + std::to_string(peakCurrentDuration) + ";\n";
                        retstr += prependString + ".continuousCurrentLimit = " + std::to_string(continuousCurrentLimit) + ";\n";
                        retstr += BaseTalonConfiguration::toString(prependString);
 
                        return retstr;
                    }
                 };// struct TalonSRXConfiguration
 
                /**
                 * Util class to help with talon configs
                 */
                class TalonSRXConfigUtil : BaseTalonConfigUtil { 
                private:
                    static const struct TalonSRXConfiguration &_default();
                public:
                    /**
                     * Determine if specified value is different from default
                     * @param settings settings to compare against
                     * @return if specified value is different from default
                     * @{
                     */
                    static bool PeakCurrentLimitDifferent(const TalonSRXConfiguration& settings) { return (!(settings.peakCurrentLimit == _default().peakCurrentLimit)) || !settings.enableOptimizations; }
                    static bool PeakCurrentDurationDifferent(const TalonSRXConfiguration& settings) { return (!(settings.peakCurrentDuration == _default().peakCurrentDuration)) || !settings.enableOptimizations; }
                    static bool ContinuousCurrentLimitDifferent(const TalonSRXConfiguration& settings) { return (!(settings.continuousCurrentLimit == _default().continuousCurrentLimit)) || !settings.enableOptimizations; }
 
                    /** @} */
                };
 
                /**
                 * CTRE Talon SRX Motor Controller when used on CAN Bus.
                 *
                 * <pre>
                 * {@code
                 * // Example usage of a TalonSRX motor controller
                 * TalonSRX motor{0}; // creates a new TalonSRX with ID 0
                 *
                 * TalonSRXConfiguration config;
                 * config.peakCurrentLimit = 40; // the peak current, in amps
                 * config.peakCurrentDuration = 1500; // the time at the peak current before the limit triggers, in ms
                 * config.continuousCurrentLimit = 30; // the current to maintain if the peak limit is triggered
                 * motor.ConfigAllSettings(config); // apply the config settings; this selects the quadrature encoder
                 *
                 * motor.Set(TalonSRXControlMode::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>
                 */
                class TalonSRX : public virtual BaseTalon
                {
                private:
 
                public:
                    /**
                     * Constructor for a Talon
                     * @param deviceNumber CAN Device ID of TalonSRX
                     */
                    TalonSRX(int deviceNumber);
 
#ifndef __FRC_ROBORIO__
                    /**
                     * Constructor so non-FRC platforms can specify a CAN 2.0 socketcan bus
                     * @param deviceNumber CAN Device ID of TalonSRX
                     * @param canbus String specifying the bus
                     */
                    TalonSRX(int deviceNumber, std::string const &canbus);
#endif
 
                    ~TalonSRX();
                    TalonSRX() = delete;
                    TalonSRX(TalonSRX const&) = delete;
                    TalonSRX& operator=(TalonSRX 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);
                     */
                    void Set(TalonSRXControlMode 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);
                     */
                    void Set(TalonSRXControlMode mode, double demand0, DemandType demand1Type, double demand1);
                    //------ sensor selection ----------//
                    /**
                     * Select the feedback device for the motor controller.
                     *
                     * @param feedbackDevice
                     *            Talon SRX 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.
                     */
                    ctre::phoenix::ErrorCode ConfigSelectedFeedbackSensor(TalonSRXFeedbackDevice feedbackDevice, int pidIdx = 0, int timeoutMs = 0);
                    /**
                     * Select the feedback device for the motor controller.
                     *
                     * @param feedbackDevice
                     *            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.
                     */
                    ctre::phoenix::ErrorCode ConfigSelectedFeedbackSensor(FeedbackDevice feedbackDevice, int pidIdx, int timeoutMs = 0);
 
                    /**
                     * Select the remote feedback device for the motor controller.
                     * Most CTRE CAN motor controllers will support remote sensors over CAN.
                     *
                     * @param feedbackDevice
                     *            Remote 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.
                     */
                    ctre::phoenix::ErrorCode ConfigSelectedFeedbackSensor(RemoteFeedbackDevice feedbackDevice, int pidIdx, int timeoutMs);
 
                    //------ Current Limit ----------//
                    /**
                     * Configures the supply (input) current limit.
                     * @param currLimitConfigs  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.
                     */
                    virtual ctre::phoenix::ErrorCode ConfigSupplyCurrentLimit(const SupplyCurrentLimitConfiguration& currLimitConfigs, int timeoutMs = 50);
                    /**
                     * Configure the peak allowable current (when current limit is enabled).
                     *
                     * Supply current limiting is also available via ConfigSupplyCurrentLimit(),
                     * which is a common routine with Talon FX.
                     *
                     * Current limit is activated when current exceeds the peak limit for longer
                     * than the peak duration. Then software will limit to the continuous limit.
                     * This ensures current limiting while allowing for momentary excess current
                     * events.
                     *
                     * For simpler current-limiting (single threshold) use
                     * ConfigContinuousCurrentLimit() and set the peak to zero:
                     * ConfigPeakCurrentLimit(0).
                     *
                     * @param amps
                     *            Amperes to limit.
                     * @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.
                     */
                    ctre::phoenix::ErrorCode ConfigPeakCurrentLimit(int amps, int timeoutMs = 0);
                    /**
                     * Configure the peak allowable duration (when current limit is enabled).
                     *
                     * Supply current limiting is also available via ConfigSupplyCurrentLimit(),
                     * which is a common routine with Talon FX.
                     *
                     * Current limit is activated when current exceeds the peak limit for longer
                     * than the peak duration. Then software will limit to the continuous limit.
                     * This ensures current limiting while allowing for momentary excess current
                     * events.
                     *
                     * For simpler current-limiting (single threshold) use
                     * ConfigContinuousCurrentLimit() and set the peak to zero:
                     * ConfigPeakCurrentLimit(0).
                     *
                     * @param milliseconds
                     *            How long to allow current-draw past peak limit.
                     * @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.
                     */
                    ctre::phoenix::ErrorCode ConfigPeakCurrentDuration(int milliseconds,
                        int timeoutMs = 0);
                    /**
                     * Configure the continuous allowable current-draw (when current limit is
                     * enabled).
                     *
                     * Supply current limiting is also available via ConfigSupplyCurrentLimit(),
                     * which is a common routine with Talon FX.
                     *
                     * Current limit is activated when current exceeds the peak limit for longer
                     * than the peak duration. Then software will limit to the continuous limit.
                     * This ensures current limiting while allowing for momentary excess current
                     * events.
                     *
                     * For simpler current-limiting (single threshold) use
                     * ConfigContinuousCurrentLimit() and set the peak to zero:
                     * ConfigPeakCurrentLimit(0).
                     *
                     * @param amps
                     *            Amperes to limit.
                     * @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.
                     */
                    ctre::phoenix::ErrorCode ConfigContinuousCurrentLimit(int amps, int timeoutMs = 0);
 
                    /**
                     * Enable or disable Current Limit.
                     *
                     * Supply current limiting is also available via ConfigSupplyCurrentLimit(),
                     * which is a common routine with Talon FX.
                     *
                     * @param enable
                     *            Enable state of current limit.
                     * @see configPeakCurrentLimit()
                     * @see configPeakCurrentDuration()
                     * @see configContinuousCurrentLimit()
                     */
                    void EnableCurrentLimit(bool enable);
                    //------ RAW Sensor API ----------//
                    /**
                     * @return object that can get/set individual RAW sensor values.
                     */
                    ctre::phoenix::motorcontrol::SensorCollection& GetSensorCollection();
 
                    //------ Simulation API ----------//
                    /**
                     * @return object that can set simulation inputs.
                     */
                    ctre::phoenix::motorcontrol::TalonSRXSimCollection& 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.
                     */
                    ctre::phoenix::ErrorCode ConfigurePID(const TalonSRXPIDSetConfiguration& 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.
                    */
                    void GetPIDConfigs(TalonSRXPIDSetConfiguration& 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.
                     */
                    ctre::phoenix::ErrorCode ConfigAllSettings(const TalonSRXConfiguration& 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.
                     */
                    void GetAllConfigs(TalonSRXConfiguration& allConfigs, int timeoutMs = 50);
 
                    /* ----- virtual re-directs ------- */
                    virtual void Set(ControlMode mode, double value);
                    virtual void Set(ControlMode mode, double demand0, DemandType demand1Type, double demand1);
                };// class TalonSRX
 
            } // namespace can
        } // namespace motorcontrol
    } // namespace phoenix
} // namespace ctre
 
#if defined(WIN32) || defined(_WIN32) || defined(_WIN64)
#pragma warning (pop)
#endif