AlternateEncoderConfig.h

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/*
 * Copyright (c) 2024-2026 REV Robotics
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#pragma once
 
#include "rev/config/BaseConfig.h"
 
namespace rev::spark {
 
class AlternateEncoderConfig : public BaseConfig {
public:
    enum Type { kQuadrature = 0 };
 
    static Type FromId(int id) { return kQuadrature; }
 
    AlternateEncoderConfig() = default;
    ~AlternateEncoderConfig() override = default;
 
    AlternateEncoderConfig(const AlternateEncoderConfig&) = default;
    AlternateEncoderConfig& operator=(const AlternateEncoderConfig&) = delete;
    AlternateEncoderConfig(AlternateEncoderConfig&&) noexcept = delete;
    AlternateEncoderConfig& operator=(AlternateEncoderConfig&&) noexcept =
        delete;
 
    struct Presets final {
        static AlternateEncoderConfig& REV_ThroughBoreEncoder() {
            static AlternateEncoderConfig config{
                AlternateEncoderConfig().CountsPerRevolution(8192)};
            return config;
        }
 
        static AlternateEncoderConfig& REV_ThroughBoreEncoderV2() {
            static AlternateEncoderConfig config{
                AlternateEncoderConfig().CountsPerRevolution(8192)};
            return config;
        }
 
        static AlternateEncoderConfig& REV_SplineEncoder() {
            static AlternateEncoderConfig config{
                AlternateEncoderConfig().CountsPerRevolution(8192)};
            return config;
        }
    };
 
    AlternateEncoderConfig& Apply(AlternateEncoderConfig& config);
 
    AlternateEncoderConfig& SetSparkMaxDataPortConfig();
 
    AlternateEncoderConfig& CountsPerRevolution(int cpr);
 
    AlternateEncoderConfig& Inverted(bool inverted);
 
    AlternateEncoderConfig& AverageDepth(int depth);
 
    AlternateEncoderConfig& MeasurementPeriod(int periodMs);
};
 
}  // namespace rev::spark