CANSparkMax.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
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 */
 
#pragma once
 
#include "CANSparkBase.h"
#include "rev/SparkMaxAlternateEncoder.h"
 
namespace rev {
 
class CANSparkBase;
 
class CANSparkMax : public CANSparkBase {
    friend class SparkMaxAlternateEncoder;
 
public:
    explicit CANSparkMax(int deviceID, MotorType type);
 
    WPI_DEPRECATED("Use CANSparkMax(int, CANSparkLowLevel::MotorType) instead")
    explicit CANSparkMax(int deviceID, CANSparkMaxLowLevel::MotorType type);
 
    ~CANSparkMax() override = default;
 
    using CANSparkBase::GetEncoder;
 
    SparkRelativeEncoder GetEncoder();
 
    SparkMaxAlternateEncoder GetAlternateEncoder(int countsPerRev);
 
    SparkMaxAlternateEncoder GetAlternateEncoder(
        SparkMaxAlternateEncoder::Type encoderType, int countsPerRev);
 
    WPI_DEPRECATED(
        "Use GetAlternateEncoder(SparkMaxAlternateEncoder::Type, int) "
        "instead")
    SparkMaxAlternateEncoder GetAlternateEncoder(
        CANEncoder::AlternateEncoderType encoderType, int countsPerRev);
 
private:
    std::atomic<bool> m_alternateEncoderCreated{false};
};
 
}  // namespace rev