TalonSRXSimCollection.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 TalonSRX motor controller.
              *
              * Use the getSimCollection() routine inside your motor controller to create the respective sim collection.
              */
            class TalonSRXSimCollection {
            public:
                /**
                 * Constructor for TalonSRXSimCollection
                 * @param motorController TalonSRX Motor Controller to connect Collection to
                 */
                TalonSRXSimCollection(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 TalonSRX.
                 * 
                 * 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 TalonSRX.
                 * 
                 * @param currA the supply current in amps
                 *
                 * @return  error code
                 */
                ErrorCode SetSupplyCurrent(double currA);
 
                /**
                 * Sets the simulated stator current of the TalonSRX.
                 * 
                 * @param currA the stator current in amps
                 *
                 * @return  error code
                 */
                ErrorCode SetStatorCurrent(double currA);
 
                /**
                 * Sets the simulated forward limit switch of the TalonSRX.
                 * 
                 * @param isClosed true if the limit switch is closed
                 *
                 * @return  error code
                 */
                ErrorCode SetLimitFwd(bool isClosed);
 
                /**
                 * Sets the simulated reverse limit switch of the TalonSRX.
                 * 
                 * @param isClosed true if the limit switch is closed
                 *
                 * @return  error code
                 */
                ErrorCode SetLimitRev(bool isClosed);
 
                /**
                 * Sets the simulated analog position of the TalonSRX.
                 * 
                 * @param newPos the new position in native units
                 *
                 * @return  error code
                 */
                ErrorCode SetAnalogPosition(int newPos);
 
                /**
                 * Adds to the simulated analog position of the TalonSRX.
                 * 
                 * @param dPos the change in position in native units
                 *
                 * @return  error code
                 */
                ErrorCode AddAnalogPosition(int dPos);
 
                /**
                 * Sets the simulated analog velocity of the TalonSRX.
                 * 
                 * @param newVel the new velocity in native units per 100ms
                 *
                 * @return  error code
                 */
                ErrorCode SetAnalogVelocity(int newVel);
 
                /**
                 * Sets if the simulated pulse width sensor is connected to the TalonSRX.
                 * 
                 * @param isConnected true if the pulse width sensor is connected
                 * 
                 * @return  error code
                 */
                ErrorCode SetPulseWidthConnected(bool isConnected);
 
                /**
                 * Sets the simulated pulse width rise to rise time of the TalonSRX.
                 * 
                 * @param periodUs the pulse width rise to rise time in microseconds
                 * 
                 * @return  error code
                 */
                ErrorCode SetPulseWidthRiseToRiseUs(double periodUs);
 
                /**
                 * Sets the simulated pulse width position of the TalonSRX.
                 * 
                 * @param newPos the new position in native units
                 *
                 * @return  error code
                 */
                ErrorCode SetPulseWidthPosition(int newPos);
 
                /**
                 * Adds to the simulated pulse width position of the TalonSRX.
                 * 
                 * @param dPos the change in position in native units
                 *
                 * @return  error code
                 */
                ErrorCode AddPulseWidthPosition(int dPos);
 
                /**
                 * Sets the simulated pulse width velocity of the TalonSRX.
                 * 
                 * @param newVel the new velocity in native units per 100ms
                 *
                 * @return  error code
                 */
                ErrorCode SetPulseWidthVelocity(int newVel);
 
                /**
                 * Sets the simulated raw quadrature position of the TalonSRX. 
                 *
                 * The TalonSRX integrates this to calculate the true reported quadrature 
                 * 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 SetQuadraturePosition() 
                 * will be accounted for in the calculation.
                 * 
                 * @param newPos the new raw position in native units
                 *
                 * @return  error code
                 */
                ErrorCode SetQuadratureRawPosition(int newPos);
 
                /**
                 * Adds to the simulated quadrature position of the TalonSRX.
                 * 
                 * @param dPos the change in position in native units
                 *
                 * @return  error code
                 */
                ErrorCode AddQuadraturePosition(int dPos);
 
                /**
                 * Sets the simulated quadrature velocity of the TalonSRX.
                 * 
                 * @param newVel the new velocity in native units per 100ms
                 *
                 * @return  error code
                 */
                ErrorCode SetQuadratureVelocity(int newVel);
 
            private:
                int _id;
 
            };
 
        } // namespace motorcontrol
    } // namespace phoenix
} // namespace ctre