001/* Copyright (C) Cross The Road Electronics 2024 */
002package com.ctre.phoenix.motorcontrol.can;
003
004import com.ctre.phoenix.motorcontrol.FeedbackDevice;
005
006/**
007 * Util class to help with TalonSRX's PID configs
008 */
009public class BaseTalonPIDSetConfigUtil {
010        private static BaseTalonPIDSetConfiguration _default = new BaseTalonPIDSetConfiguration(FeedbackDevice.QuadEncoder);
011        /* Default feedback sensor is product specific. In order to ensure user always gets what they expect when selecting feedback sensor,
012                (Sum/Diff)(0/1)TermDifferent will always return true */
013        
014        static boolean selectedFeedbackSensorDifferent (BaseTalonPIDSetConfiguration settings) { return true; } //{ return (!(settings.selectedFeedbackSensor == _default.selectedFeedbackSensor)); }
015        static boolean selectedFeedbackCoefficientDifferent (BaseTalonPIDSetConfiguration settings) { return (!(settings.selectedFeedbackCoefficient == _default.selectedFeedbackCoefficient)); }
016}