CANPIDController.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
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 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#pragma once
 
#ifdef _MSC_VER
// Disable deprecation warnings for this file when using VS compiler
#pragma warning(disable : 4996)
#endif
 
#ifdef __GNUC__
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated"
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
 
#include <wpi/deprecated.h>
 
#include "rev/CANSensor.h"
#include "rev/ControlType.h"
#include "rev/REVLibError.h"
 
namespace rev {
 
class CANSparkMax;
class SparkMaxPIDController;
 
class WPI_DEPRECATED("Use SparkMaxPIDController instead") CANPIDController {
    friend class SparkMaxPIDController;
 
public:
    enum class WPI_DEPRECATED(
        "Use SparkMaxPIDController::AccelStrategy instead") AccelStrategy {
        kTrapezoidal = 0,
        kSCurve = 1
    };
 
    enum class WPI_DEPRECATED("Use SparkMaxPIDController::ArbFFUnits instead")
        ArbFFUnits {
            kVoltage = 0,
            kPercentOut = 1
        };
 
    virtual ~CANPIDController() {}
 
    virtual REVLibError SetReference(
        double value, ControlType ctrl, int pidSlot = 0,
        double arbFeedforward = 0,
        ArbFFUnits arbFFUnits = ArbFFUnits::kVoltage) = 0;
 
    virtual REVLibError SetP(double gain, int slotID = 0) = 0;
 
    virtual REVLibError SetI(double gain, int slotID = 0) = 0;
 
    virtual REVLibError SetD(double gain, int slotID = 0) = 0;
 
    virtual REVLibError SetDFilter(double gain, int slotID = 0) = 0;
 
    virtual REVLibError SetFF(double gain, int slotID = 0) = 0;
 
    virtual REVLibError SetIZone(double IZone, int slotID = 0) = 0;
 
    virtual REVLibError SetOutputRange(double min, double max,
                                       int slotID = 0) = 0;
 
    virtual double GetP(int slotID = 0) const = 0;
 
    virtual double GetI(int slotID = 0) const = 0;
 
    virtual double GetD(int slotID = 0) const = 0;
 
    virtual double GetDFilter(int slotID = 0) const = 0;
 
    virtual double GetFF(int slotID = 0) const = 0;
 
    virtual double GetIZone(int slotID = 0) const = 0;
 
    virtual double GetOutputMin(int slotID = 0) const = 0;
 
    virtual double GetOutputMax(int slotID = 0) const = 0;
 
    virtual REVLibError SetSmartMotionMaxVelocity(double maxVel,
                                                  int slotID = 0) = 0;
 
    virtual REVLibError SetSmartMotionMaxAccel(double maxAccel,
                                               int slotID = 0) = 0;
 
    virtual REVLibError SetSmartMotionMinOutputVelocity(double minVel,
                                                        int slotID = 0) = 0;
 
    virtual REVLibError SetSmartMotionAllowedClosedLoopError(
        double allowedErr, int slotID = 0) = 0;
 
    virtual REVLibError SetSmartMotionAccelStrategy(AccelStrategy accelStrategy,
                                                    int slotID = 0) = 0;
 
    virtual double GetSmartMotionMaxVelocity(int slotID = 0) const = 0;
 
    virtual double GetSmartMotionMaxAccel(int slotID = 0) const = 0;
 
    virtual double GetSmartMotionMinOutputVelocity(int slotID = 0) const = 0;
 
    virtual double GetSmartMotionAllowedClosedLoopError(
        int slotID = 0) const = 0;
 
    virtual REVLibError SetIMaxAccum(double iMaxAccum, int slotID = 0) = 0;
 
    virtual double GetIMaxAccum(int slotID = 0) const = 0;
 
    virtual REVLibError SetIAccum(double iAccum) = 0;
 
    virtual double GetIAccum() const = 0;
 
    virtual REVLibError SetFeedbackDevice(const CANSensor& sensor) = 0;
 
    virtual REVLibError SetPositionPIDWrappingEnabled(bool enable) = 0;
 
    virtual REVLibError SetPositionPIDWrappingMaxInput(double value) = 0;
 
    virtual REVLibError SetPositionPIDWrappingMinInput(double value) = 0;
 
    virtual bool GetPositionPIDWrappingEnabled() const = 0;
 
    virtual double GetPositionPIDWrappingMaxInput() const = 0;
 
    virtual double GetPositionPIDWrappingMinInput() const = 0;
 
private:
    CANPIDController() {}
};
 
}  // namespace rev
 
#ifdef __GNUC__
#pragma GCC diagnostic pop
#endif