WPI_TalonSRX.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/TalonSRX.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
 
using namespace ctre::phoenix;
 
namespace ctre {
namespace phoenix {
namespace motorcontrol {
namespace can {
 
/**
 * CTRE Talon SRX Motor Controller when used on CAN Bus.
 */
class WPI_TalonSRX : public virtual TalonSRX,
                     public virtual WPI_BaseMotorController
{
public:
    /**
     * Constructor for a WPI_TalonSRX
     * @param deviceNumber Device ID of TalonSRX
     */
    WPI_TalonSRX(int deviceNumber);
    virtual ~WPI_TalonSRX();
 
    WPI_TalonSRX() = delete;
    WPI_TalonSRX(WPI_TalonSRX const &) = delete;
    WPI_TalonSRX &operator=(WPI_TalonSRX const &) = delete;
 
    /* ----- virtual re-directs ------- */
    virtual void Set(double value);
    virtual void Set(ControlMode mode, double value);
    virtual void Set(ControlMode mode, double demand0, DemandType demand1Type, double demand1);
    virtual void Set(TalonSRXControlMode mode, double value);
    virtual void Set(TalonSRXControlMode mode, double demand0, DemandType demand1Type, double demand1);
    virtual void SetVoltage(units::volt_t output);
    virtual void SetInverted(InvertType invertType);
    virtual void SetInverted(bool bInvert);
    virtual ctre::phoenix::ErrorCode ConfigSelectedFeedbackSensor(FeedbackDevice feedbackDevice, int pidIdx = 0, int timeoutMs = 0);
    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_simAnalogEnc;
    hal::SimBoolean m_simAnalogInit;
    hal::SimDouble m_simAnalogVoltage;
 
    hal::SimDevice m_simPulseWidthEnc;
    hal::SimBoolean m_simPulseWidthConnected;
    hal::SimDouble m_simPulseWidthPos;
 
    hal::SimDevice m_simQuadEnc;
    hal::SimDouble m_simQuadPos;
    hal::SimDouble m_simQuadRawPos;
    hal::SimDouble m_simQuadVel;
 
    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