CANAnalog.h

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/*
 * Copyright (c) 2018-2022 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
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#pragma once
 
#include <stdint.h>
 
#include <wpi/deprecated.h>
 
#include "rev/MotorFeedbackSensor.h"
#include "rev/REVLibError.h"
 
namespace rev {
 
class WPI_DEPRECATED("use SparkMaxAnalogSensor instead") CANAnalog
    : public MotorFeedbackSensor {
    friend class SparkMaxAnalogSensor;
 
public:
    enum class WPI_DEPRECATED("Use SparkMaxAnalogSensor::Mode instead")
        AnalogMode {
            kAbsolute = 0,
            kRelative = 1
        };
 
    virtual ~CANAnalog() {}
 
    virtual double GetVoltage() const = 0;
 
    virtual double GetPosition() const = 0;
 
    virtual double GetVelocity() const = 0;
 
    virtual REVLibError SetPositionConversionFactor(double factor) = 0;
 
    virtual double GetPositionConversionFactor() const = 0;
 
    virtual REVLibError SetVelocityConversionFactor(double factor) = 0;
 
    virtual double GetVelocityConversionFactor() const = 0;
 
    virtual REVLibError SetAverageDepth(uint32_t depth) = 0;
 
    virtual REVLibError SetMeasurementPeriod(uint32_t period_ms) = 0;
 
    virtual uint32_t GetAverageDepth() const = 0;
 
    virtual uint32_t GetMeasurementPeriod() const = 0;
 
    // Already marked as virtual in MotorFeedbackSensor
    REVLibError SetInverted(bool inverted) override = 0;
 
    bool GetInverted() const override = 0;
 
private:
    CANAnalog() {}
 
    int GetSparkMaxFeedbackDeviceID() const override = 0;
};
 
}  // namespace rev