CANSensor.h

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/*
 * Copyright (c) 2018-2021 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
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 */
 
#pragma once
 
#include <cmath>
 
#include <wpi/deprecated.h>
 
#include "rev/REVLibError.h"
 
namespace rev {
 
class WPI_DEPRECATED("use MotorFeedbackSensor instead") CANSensor {
    // Friend to allow access to constructor
    friend class MotorFeedbackSensor;
 
    // Friend to allow access to GetSparkMaxFeedbackDeviceID()
    friend class SparkMaxPIDController;
 
public:
    virtual ~CANSensor() {}
 
    virtual REVLibError SetInverted(bool inverted) = 0;
 
    virtual bool GetInverted() const = 0;
 
    // REVLibError SetFeedbackSensorRange(float minRange = -INFINITY, float
    // maxRange = INFINITY) {
    //     auto status =
    //     c_SparkMax_SetFeedbackDeviceRange(static_cast<c_SparkMax_handle>(m_device->m_sparkMaxHandle),
    //     minRange, maxRange); return static_cast<REVLibError>(status);
    // }
 
private:
    CANSensor() {}
 
    virtual int GetSparkMaxFeedbackDeviceID() const = 0;
};
 
}  // namespace rev