A301.h

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/*
 * Copyright (c) 2026 REV Robotics
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 * 3. Neither the name of REV Robotics nor the names of its
 *    contributors may be used to endorse or promote products derived from
 *    this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 */
 
#pragma once
 
#include <memory>
#include <string>
 
#include <wpi/hardware/bus/CANPort.hpp>
#include <wpi/hardware/motor/MotorController.hpp>
 
// TODO
#include "rev/REVLibError.h"
#include "rev/util/Signal.h"
 
namespace first::a301 {
 
namespace internal {
class A301;
}  // namespace internal
 
// The default A301 device ID is set to 3 out of the factory.
constexpr int defaultDeviceId{3};
 
class A301 : public wpi::MotorController {
public:
    explicit A301(wpi::CANPort canPort);
 
    A301(wpi::CANPort canPort, int deviceId);
 
    ~A301() override;
 
    wpi::CANPort GetCanPort() const;
 
    int GetDeviceId() const;
 
    struct FirmwareVersion {
        uint8_t major;
        uint8_t minor;
        uint16_t patch;
        uint8_t prerelease;
    };
 
    FirmwareVersion GetFirmwareVersion() const;
 
    std::string GetFirmwareString() const;
 
    rev::util::Signal<bool> HasActiveFault() const;
 
    rev::util::Signal<bool> HasStickyFault() const;
 
    rev::util::Signal<bool> HasActiveWarning() const;
 
    rev::util::Signal<bool> HasStickyWarning() const;
 
    struct Faults {
        bool other{};
        bool sensor{};
        bool can{};
        bool temperature{};
        bool gateDriver{};
        bool escEeprom{};
        bool firmware{};
        bool motorStartup{};
        uint16_t rawBits{};
 
        Faults() = default;
 
        explicit Faults(uint16_t faults);
    };
 
    rev::util::Signal<Faults> GetFaults() const;
 
    rev::util::Signal<Faults> GetStickyFaults() const;
 
    struct Warnings {
        bool overvoltage{};
        bool motorLoopSpeed{};
        bool brownout{};
        bool overcurrent{};
        bool escEeprom{};
        bool extEeprom{};
        bool sensor{};
        bool stall{};
        bool hasReset{};
        bool other{};
        uint16_t rawBits{};
 
        Warnings() = default;
 
        explicit Warnings(uint16_t warnings);
    };
 
    rev::util::Signal<Warnings> GetWarnings() const;
 
    rev::util::Signal<Warnings> GetStickyWarnings() const;
 
    rev::util::Signal<double> GetBusVoltage() const;
 
    rev::util::Signal<double> GetAppliedOutput() const;
 
    rev::util::Signal<double> GetMotorCurrent() const;
 
    rev::util::Signal<double> GetMotorTemperature() const;
 
    enum class GearboxRPM {
        kRPM_Unknown,
        kRPM_215,
        kRPM_500,
    };
 
    rev::util::Signal<GearboxRPM> GetGearboxRPM() const;
 
    rev::util::Signal<double> GetRelativeEncoderPosition() const;
 
    rev::util::Signal<double> GetEncoderVelocity() const;
 
    rev::util::Signal<double> GetAbsoluteEncoderPosition() const;
 
    rev::REVLibError SetRelativeEncoderPosition(double position);
 
    rev::REVLibError SetAbsoluteEncoderPosition(double position);
 
    rev::REVLibError ClearFaults();
 
    rev::REVLibError SetVelocity(double velocity);
 
    rev::REVLibError SetRelativePosition(double position);
 
    rev::REVLibError SetRelativePositionWithSpeed(double position,
                                                  double speed);
 
    rev::REVLibError SetAbsolutePosition(double absPosition);
 
    rev::REVLibError SetAbsolutePositionWithSpeed(double absPosition,
                                                  double speed);
 
    enum class IdleMode {
        kCoast,
        kBrake,
    };
 
    rev::REVLibError SetIdleMode(IdleMode idleMode);
 
    IdleMode GetIdleMode() const;
 
    rev::REVLibError EnableAbsolutePositionContinuousInput();
 
    rev::REVLibError DisableAbsolutePositionContinuousInput();
 
    bool IsAbsolutePositionContinuousInputEnabled() const;
 
    rev::REVLibError SetAbsoluteEncoderRangeOffset(double offset);
 
    double GetAbsoluteEncoderRangeOffset() const;
 
    rev::REVLibError SetCurrent(double current);
 
    /**** MotorController Interface ****/
 
    void SetThrottle(double throttle) override;
 
    double GetThrottle() const override;
 
    void SetVoltage(wpi::units::volt_t output) override;
 
    void SetInverted(bool isInverted) override;
 
    bool GetInverted() const override;
 
    void Disable() override;
 
    /**** Signals Configuration Interface ****/
 
    A301& FaultsPeriodMs(int period_ms);
 
    int GetFaultsPeriodMs() const;
 
    A301& WarningsPeriodMs(int period_ms);
 
    int GetWarningsPeriodMs() const;
 
    A301& BusVoltagePeriodMs(int period_ms);
 
    int GetBusVoltagePeriodMs() const;
 
    A301& AppliedOutputPeriodMs(int period_ms);
 
    int GetAppliedOutputPeriodMs() const;
 
    A301& MotorCurrentPeriodMs(int period_ms);
 
    int GetMotorCurrentPeriodMs() const;
 
    A301& MotorTemperaturePeriodMs(int period_ms);
 
    int GetMotorTemperaturePeriodMs() const;
 
    A301& RelativeEncoderPositionPeriodMs(int period_ms);
 
    int GetRelativeEncoderPositionPeriodMs() const;
 
    A301& EncoderVelocityPeriodMs(int period_ms);
 
    int GetEncoderVelocityPeriodMs() const;
 
    A301& AbsoluteEncoderPositionPeriodMs(int period_ms);
 
    int GetAbsoluteEncoderPositionPeriodMs() const;
 
private:
    std::unique_ptr<internal::A301> p;
};
 
}  // namespace first::a301