CANcoderSimState.hpp

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/*
 * Copyright (C) Cross The Road Electronics.  All rights reserved.
 * License information can be found in CTRE_LICENSE.txt
 * For support and suggestions contact support@ctr-electronics.com or file
 * an issue tracker at https://github.com/CrossTheRoadElec/Phoenix-Releases
 */
#pragma once
 
#include "ctre/phoenix/StatusCodes.h"
#include "ctre/phoenix6/signals/SpnEnums.hpp"
#include "ctre/phoenix6/sim/ChassisReference.hpp"
#include <units/angle.h>
#include <units/angular_velocity.h>
#include <units/voltage.h>
 
namespace ctre {
namespace phoenix6 {
 
namespace hardware {
namespace core {
    /* forward proto */
    class CoreCANcoder;
}
}
 
namespace sim {
 
    /**
     * \brief Class to control the state of a simulated hardware#CANcoder.
     */
    class CANcoderSimState
    {
    private:
        int _id;
 
    public:
        /**
         * \brief The orientation of the CANcoder relative to the robot chassis.
         *
         * This value should not be changed based on the CANcoder invert.
         * Rather, this value should be changed when the mechanical linkage
         * between the CANcoder and the robot changes.
         */
        ChassisReference Orientation;
        /**
         * \brief The offset of the CANcoder position relative to the robot chassis,
         * in rotations. This offset is subtracted from the raw position, allowing
         * for a non-zero magnet offset config to behave correctly in simulation.
         *
         * This value should not be changed after initialization unless the
         * mechanical linkage between the CANcoder and the robot changes.
         */
        units::angle::turn_t SensorOffset = 0_tr;
 
        /**
         * \brief Creates an object to control the state of the given hardware#CANcoder.
         *
         * \details This constructor defaults to a counter-clockwise positive orientation
         *          relative to the robot chassis. Note the recommended method of accessing
         *          simulation features is to use hardware#CANcoder#GetSimState.
         *
         * \param device Device to which this simulation state is attached
         */
        CANcoderSimState(hardware::core::CoreCANcoder const &device) :
            CANcoderSimState{device, ChassisReference::CounterClockwise_Positive}
        {}
        /**
         * \brief Creates an object to control the state of the given hardware#CANcoder.
         *
         * \details Note the recommended method of accessing simulation features is to
         *          use hardware#CANcoder#GetSimState.
         *
         * \param device Device to which this simulation state is attached
         * \param orientation Orientation of the device relative to the robot chassis
         */
        CANcoderSimState(hardware::core::CoreCANcoder const &device, ChassisReference orientation);
        /* disallow copy, allow move */
        CANcoderSimState(CANcoderSimState const &) = delete;
        CANcoderSimState(CANcoderSimState &&) = default;
        CANcoderSimState &operator=(CANcoderSimState const &) = delete;
        CANcoderSimState &operator=(CANcoderSimState &&) = default;
 
        /**
         * \brief Sets the simulated supply voltage of the CANcoder.
         *
         * \details The minimum allowed supply voltage is 4 V - values below this
         * will be promoted to 4 V.
         *
         * \param volts The supply voltage in Volts
         * \returns Status code
         */
        ctre::phoenix::StatusCode SetSupplyVoltage(units::voltage::volt_t volts);
 
        /**
         * \brief Sets the simulated raw position of the CANcoder.
         *
         * Inputs to this function over time should be continuous, as user calls of hardware#CANcoder#SetPosition will be accounted for in the callee.
         *
         * \details The CANcoder integrates this to calculate the true reported 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 hardware API calls for home-ing the sensor.
         *
         * \param rotations The raw position in rotations
         * \returns Status code
         */
        ctre::phoenix::StatusCode SetRawPosition(units::angle::turn_t rotations);
        /**
         * \brief Adds to the simulated position of the CANcoder.
         *
         * \param dRotations
         *        The change in position in rotations
         * \returns Status code
         */
        ctre::phoenix::StatusCode AddPosition(units::angle::turn_t dRotations);
        /**
         * \brief Sets the simulated velocity of the CANcoder.
         *
         * \param rps The new velocity in rotations per second
         * \returns Status code
         */
        ctre::phoenix::StatusCode SetVelocity(units::angular_velocity::turns_per_second_t rps);
 
        /**
         * \brief Sets the simulated magnet health of the CANcoder.
         *
         * \param value The magnet health to simulate. This directly correlates to the
         *              red/green/orange state of the simulated LED.
         * \returns Status code
         */
        ctre::phoenix::StatusCode SetMagnetHealth(ctre::phoenix6::signals::MagnetHealthValue value);
    };
 
}
 
}
}