CANSparkLowLevel.h

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/*
 * Copyright (c) 2018-2024 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 <string>
#include <vector>
 
#include <frc/motorcontrol/MotorController.h>
#include <hal/Types.h>
#include <wpi/deprecated.h>
 
#include "rev/CANSparkMaxLowLevel.h"
#include "rev/ControlType.h"
#include "rev/REVLibError.h"
 
// Defined in HIL tester source
class ConfigBase;
 
namespace rev {
 
class CANSparkBase;
 
class CANSparkLowLevel : public frc::MotorController {
    friend class CANAnalog;
    friend class CANDigitalInput;
    friend class CANEncoder;
    friend class CANPIDController;
    friend class CANSensor;
    friend class CANSparkBase;
    friend class CANSparkMax;
    friend class CANSparkFlex;
    friend class MotorFeedbackSensor;
    friend class SparkMaxAnalogSensor;
    friend class SparkMaxAlternateEncoder;
    friend class SparkMaxLimitSwitch;
    friend class SparkMaxPIDController;
    friend class SparkMaxRelativeEncoder;
    friend class SparkMaxAbsoluteEncoder;
    friend class SparkFlexExternalEncoder;
 
    // Defined in HIL tester source
    friend class ::ConfigBase;
 
public:
    static const uint8_t kAPIMajorVersion;
    static const uint8_t kAPIMinorVersion;
    static const uint8_t kAPIBuildVersion;
    static const uint32_t kAPIVersion;
 
    enum class MotorType { kBrushed = 0, kBrushless = 1 };
 
    enum class ControlType {
        kDutyCycle = 0,
        kVelocity = 1,
        kVoltage = 2,
        kPosition = 3,
        kSmartMotion = 4,
        kCurrent = 5,
        kSmartVelocity = 6
    };
 
    enum class ParameterStatus {
        kOK = 0,
        kInvalidID = 1,
        kMismatchType = 2,
        kAccessMode = 3,
        kInvalid = 4,
        kNotImplementedDeprecated = 5,
    };
 
    enum class PeriodicFrame {
        kStatus0 = 0,
        kStatus1 = 1,
        kStatus2 = 2,
        kStatus3 = 3,
        kStatus4 = 4,
        kStatus5 = 5,
        kStatus6 = 6,
        kStatus7 = 7,
    };
 
    struct PeriodicStatus0 {
        double appliedOutput;
        uint16_t faults;
        uint16_t stickyFaults;
        MotorType motorType;
        bool isFollower;
        uint8_t lock;
        uint8_t roboRIO;
        uint8_t isInverted;
        uint64_t timestamp;
    };
 
    struct PeriodicStatus1 {
        double sensorVelocity;
        uint8_t motorTemperature;
        double busVoltage;
        double outputCurrent;
        uint64_t timestamp;
    };
 
    struct PeriodicStatus2 {
        double sensorPosition;
        double iAccum;
        uint64_t timestamp;
    };
 
    enum class TelemetryID {
        kBusVoltage = 0,
        kOutputCurrent,
        kVelocity,
        kPosition,
        kIAccum,
        kAppliedOutput,
        kMotorTemp,
        kFaults,
        kStickyFaults,
        kAnalogVoltage,
        kAnalogPosition,
        kAnalogVelocity,
        kAltEncPosition,
        kAltEncVelocity,
        kTotalStreams
    };
 
    struct TelemetryMessage {
        TelemetryID id;
        float value = 0;
        uint64_t timestamp = 0;
        const char* name;
        const char* units;
        float lowerBnd;
        float upperBnd;
    };
 
    enum class SparkModel {
        kSparkMax = 0,
        kSparkFlex = 1,
        kUnknown = 255,
    };
 
    virtual ~CANSparkLowLevel();
 
    uint32_t GetFirmwareVersion();
 
    uint32_t GetFirmwareVersion(bool& isDebugBuild);
 
    std::string GetFirmwareString();
 
    std::vector<uint8_t> GetSerialNumber();
 
    int GetDeviceId() const;
 
    WPI_DEPRECATED("Use GetMotorType() instead")
    MotorType GetInitialMotorType();
 
    MotorType GetMotorType();
 
    REVLibError SetPeriodicFramePeriod(PeriodicFrame frame, int periodMs);
 
    WPI_DEPRECATED(
        "Use SetPeriodicFramePeriod(CANSparkLowLevel::PeriodicFrame, int) "
        "instead")
    REVLibError SetPeriodicFramePeriod(CANSparkMaxLowLevel::PeriodicFrame frame,
                                       int periodMs);
 
    void SetPeriodicFrameTimeout(int timeoutMs);
 
    void SetCANMaxRetries(int numRetries);
 
    void SetControlFramePeriodMs(int periodMs);
 
    REVLibError RestoreFactoryDefaults(bool persist = false);
 
    static void EnableExternalUSBControl(bool enable);
 
#ifndef __FRC_ROBORIO__
    static void SetEnable(bool enable);
#endif
 
protected:
    enum class FeedbackSensorType {
        kNoSensor = 0,
        kHallSensor = 1,
        kQuadrature = 2,
        kSensorless = 3,
        kAnalog = 4,
        kAltQuadrature = 5,
        kDutyCycleSensor = 6,
    };
 
    struct FollowConfigBits {
        uint32_t rsvd1 : 18;
        uint32_t invert : 1;
        uint32_t rsvd2 : 5;
        uint32_t predefined : 8;
    };
 
    struct FollowConfig {
        uint32_t leaderArbId;
        union FollowConfigUnion {
            uint32_t value;
            FollowConfigBits bits;
        } config;
    };
 
    PeriodicStatus0 GetPeriodicStatus0();
    PeriodicStatus1 GetPeriodicStatus1();
    PeriodicStatus2 GetPeriodicStatus2();
 
    REVLibError SetFollow(FollowConfig config);
 
    REVLibError SetpointCommand(
        double value,
        CANSparkLowLevel::ControlType ctrl = ControlType::kDutyCycle,
        int pidSlot = 0, double arbFeedforward = 0, int arbFFUnits = 0);
 
    float GetSafeFloat(float f);
 
    MotorType m_motorType;
    SparkModel m_expectedSparkModel;
    // The type is void* because we don't want to expose c_SparkMax_handle to
    // the consumers of this header file
    void* m_sparkMaxHandle;
 
private:
    explicit CANSparkLowLevel(int deviceID, MotorType type, SparkModel model);
 
    int m_deviceID;
};
 
}  // namespace rev