AbsoluteEncoderConfig.h

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/*
 * Copyright (c) 2024-2026 REV Robotics
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 * modification, are permitted provided that the following conditions are met:
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#pragma once
 
#include "rev/config/BaseConfig.h"
 
namespace rev::spark {
 
class AbsoluteEncoderConfig : public BaseConfig {
public:
    AbsoluteEncoderConfig() = default;
    ~AbsoluteEncoderConfig() override = default;
 
    AbsoluteEncoderConfig(const AbsoluteEncoderConfig&) = default;
    AbsoluteEncoderConfig& operator=(const AbsoluteEncoderConfig&) = delete;
    AbsoluteEncoderConfig(AbsoluteEncoderConfig&&) noexcept = delete;
    AbsoluteEncoderConfig& operator=(AbsoluteEncoderConfig&&) noexcept = delete;
 
    struct Presets final {
        static AbsoluteEncoderConfig& REV_ThroughBoreEncoder() {
            static AbsoluteEncoderConfig config{
                AbsoluteEncoderConfig().StartPulseUs(1.0).EndPulseUs(1.0)};
            return config;
        }
 
        static AbsoluteEncoderConfig& REV_ThroughBoreEncoderV2() {
            static AbsoluteEncoderConfig config{AbsoluteEncoderConfig()
                                                    .StartPulseUs(3.88443797)
                                                    .EndPulseUs(1.94221899)};
            return config;
        }
 
        static AbsoluteEncoderConfig& REV_SplineEncoder() {
            static AbsoluteEncoderConfig config{
                AbsoluteEncoderConfig().StartPulseUs(1.0).EndPulseUs(1.0)};
            return config;
        }
    };
 
    AbsoluteEncoderConfig& Apply(AbsoluteEncoderConfig& config);
 
    AbsoluteEncoderConfig& SetSparkMaxDataPortConfig();
 
    AbsoluteEncoderConfig& Inverted(bool inverted);
 
    AbsoluteEncoderConfig& PositionConversionFactor(double factor);
 
    AbsoluteEncoderConfig& VelocityConversionFactor(double factor);
 
    AbsoluteEncoderConfig& ZeroOffset(double offset);
 
    AbsoluteEncoderConfig& AverageDepth(int depth);
 
    AbsoluteEncoderConfig& StartPulseUs(double startPulseUs);
 
    AbsoluteEncoderConfig& EndPulseUs(double endPulseUs);
 
    AbsoluteEncoderConfig& ZeroCentered(bool zeroCentered);
};
 
}  // namespace rev::spark