WPI_TalonFX.h

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/* Copyright (C) Cross The Road Electronics 2024 */
/**
 * WPI Compliant motor controller class.
 * WPILIB's object model requires many interfaces to be implemented to use
 * the various features.
 * This includes...
 * - Software PID loops running in the robot controller
 * - LiveWindow/Test mode features
 * - Motor Safety (auto-turn off of motor if Set stops getting called)
 * - Single Parameter set that assumes a simple motor controller.
 */
#pragma once
 
#include "ctre/phoenix/motorcontrol/can/TalonFX.h"
#include "ctre/phoenix/motorcontrol/can/WPI_BaseMotorController.h"
#include "ctre/phoenix/platform/Platform.hpp"
#include "ctre/phoenix/WPI_CallbackHelper.h"
 
 
//Turn off dominance warning
#if _MSC_VER
    #pragma warning(push)
    #pragma warning(disable : 4250)
#endif
 
namespace ctre {
namespace phoenix {
namespace motorcontrol {
namespace can {
 
/**
 * CTRE Talon FX Motor Controller when used on CAN Bus.
 *
 * @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 [[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")]]
WPI_TalonFX : public virtual TalonFX,
              public virtual WPI_BaseMotorController
{
public:
    /**
     * Constructor for a WPI_TalonFX
     * @param deviceNumber Device ID of TalonFX
     * @param canbus Name of the CANbus; can be a CANivore device name or serial number.
     *               Pass in nothing or "rio" to use the roboRIO.
     */
    WPI_TalonFX(int deviceNumber, std::string const &canbus = "");
    virtual ~WPI_TalonFX();
 
    WPI_TalonFX() = delete;
    WPI_TalonFX(WPI_TalonFX const &) = delete;
    WPI_TalonFX &operator=(WPI_TalonFX const &) = delete;
 
    /* ----- virtual re-directs ------- */
    virtual void Set(double value);
    [[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")]]
    virtual void Set(ControlMode mode, double value);
    [[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")]]
    virtual void Set(ControlMode mode, double demand0, DemandType demand1Type, double demand1);
    [[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")]]
    virtual void Set(TalonFXControlMode mode, double value);
    [[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")]]
    virtual void Set(TalonFXControlMode mode, double demand0, DemandType demand1Type, double demand1);
    virtual void SetVoltage(units::volt_t output);
    [[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")]]
    virtual void SetInverted(TalonFXInvertType invertType);
    [[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")]]
    virtual void SetInverted(InvertType invertType);
    virtual void SetInverted(bool bInvert);
    [[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")]]
    virtual ctre::phoenix::ErrorCode ConfigSelectedFeedbackSensor(FeedbackDevice feedbackDevice, int pidIdx = 0, int timeoutMs = 0);
    [[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")]]
    virtual ctre::phoenix::ErrorCode ConfigSelectedFeedbackSensor(RemoteFeedbackDevice feedbackDevice, int pidIdx = 0, int timeoutMs = 0);
 
protected:
 
private:
 
    hal::SimDevice m_simMotor;
    hal::SimDouble m_simPercOut;
    hal::SimDouble m_simMotorOutputLeadVoltage;
    hal::SimDouble m_simSupplyCurrent;
    hal::SimDouble m_simMotorCurrent;
    hal::SimDouble m_simVbat;
 
    hal::SimDevice m_simIntegSens;
    hal::SimDouble m_simIntegSensPos;
    hal::SimDouble m_simIntegSensAbsPos;
    hal::SimDouble m_simIntegSensRawPos;
    hal::SimDouble m_simIntegSensVel;
 
    hal::SimDevice m_simFwdLim;
    hal::SimBoolean m_simFwdLimInit;
    hal::SimBoolean m_simFwdLimInput;
    hal::SimBoolean m_simFwdLimValue;
 
    hal::SimDevice m_simRevLim;
    hal::SimBoolean m_simRevLimInit;
    hal::SimBoolean m_simRevLimInput;
    hal::SimBoolean m_simRevLimValue;
 
    static void OnValueChanged(const char* name, void* param, HAL_SimValueHandle handle,
                               HAL_Bool readonly, const struct HAL_Value* value);
    static void OnPeriodic(void* param);
 
};
 
} // namespace can
} // namespace motorcontrol
} // namespace phoenix
} // namespace ctre
 
#if _MSC_VER
    #pragma warning(pop)
#endif