VictorSPXSimCollection.h

Go to the documentation of this file.

/* 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 BaseMotorController;
            }
        }
    }
}
 
namespace ctre {
    namespace phoenix {
        namespace motorcontrol {
 
            /**
              * Collection of simulation commands available to a VictorSPX motor controller.
              *
              * Use the getSimCollection() routine inside your motor controller to create the respective sim collection.
              */
            class VictorSPXSimCollection {
            public:
                /**
                 * Constructor for VictorSPXSimCollection
                 * @param motorController VictorSPX Motor Controller to connect Collection to
                 */
                VictorSPXSimCollection(ctre::phoenix::motorcontrol::can::BaseMotorController& 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 VictorSPX.
                 * 
                 * 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);
 
            private:
                int _id;
 
            };
 
        } // namespace motorcontrol
    } // namespace phoenix
} // namespace ctre