ClosedLoopConfig.h

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#pragma once
 
#include <string>
 
#include "rev/ClosedLoopTypes.h"
#include "rev/config/BaseConfig.h"
#include "rev/config/FeedForwardConfig.h"
#include "rev/config/MAXMotionConfig.h"
 
namespace rev::detached {
class DetachedEncoder;
}
 
namespace rev::spark {
 
class ClosedLoopConfig : public BaseConfig {
public:
    ClosedLoopConfig() = default;
    ~ClosedLoopConfig() override = default;
 
    ClosedLoopConfig(const ClosedLoopConfig&) = default;
    ClosedLoopConfig& operator=(const ClosedLoopConfig&) = delete;
    ClosedLoopConfig(ClosedLoopConfig&&) noexcept = delete;
    ClosedLoopConfig& operator=(ClosedLoopConfig&&) noexcept = delete;
 
    ClosedLoopConfig& Apply(ClosedLoopConfig& config);
 
    ClosedLoopConfig& Apply(MAXMotionConfig& config);
 
    ClosedLoopConfig& Apply(FeedForwardConfig& config);
 
    [[deprecated(
        "Use FeedForwardConfig::V(double v, ClosedLoopSlot slot) to set a "
        "Velocity Feedforward")]] ClosedLoopConfig&
    Pidf(double p, double i, double d, double ff, ClosedLoopSlot slot = kSlot0);
 
    ClosedLoopConfig& Pid(double p, double i, double d,
                          ClosedLoopSlot slot = kSlot0);
 
    ClosedLoopConfig& P(double p, ClosedLoopSlot slot = kSlot0);
 
    ClosedLoopConfig& I(double i, ClosedLoopSlot slot = kSlot0);
 
    ClosedLoopConfig& D(double d, ClosedLoopSlot slot = kSlot0);
 
    [[deprecated(
        "Use FeedForwardConfig::V(double v, ClosedLoopSlot slot) to set this "
        "gain")]] ClosedLoopConfig&
    VelocityFF(double ff, ClosedLoopSlot slot = kSlot0);
 
    ClosedLoopConfig& DFilter(double dFilter, ClosedLoopSlot slot = kSlot0);
 
    ClosedLoopConfig& IZone(double iZone, ClosedLoopSlot slot = kSlot0);
 
    ClosedLoopConfig& MinOutput(double minOutput, ClosedLoopSlot slot = kSlot0);
 
    ClosedLoopConfig& MaxOutput(double maxOutput, ClosedLoopSlot slot = kSlot0);
 
    ClosedLoopConfig& OutputRange(double minOutput, double maxOutput,
                                  ClosedLoopSlot slot = kSlot0);
 
    ClosedLoopConfig& IMaxAccum(double iMaxAccum, ClosedLoopSlot slot = kSlot0);
 
    ClosedLoopConfig& AllowedClosedLoopError(double allowedError,
                                             ClosedLoopSlot slot = kSlot0);
 
    ClosedLoopConfig& PositionWrappingEnabled(bool enabled);
 
    ClosedLoopConfig& PositionWrappingMinInput(double minInput);
 
    ClosedLoopConfig& PositionWrappingMaxInput(double maxInput);
 
    ClosedLoopConfig& PositionWrappingInputRange(double minInput,
                                                 double maxInput);
 
    ClosedLoopConfig& SetFeedbackSensor(FeedbackSensor sensor);
 
    ClosedLoopConfig& SetFeedbackSensor(FeedbackSensor sensor,
                                        int detachedEncoderDeviceId);
 
    ClosedLoopConfig& SetFeedbackSensor(
        FeedbackSensor sensor,
        const rev::detached::DetachedEncoder& detachedEncoder);
 
    std::string Flatten() override;
 
    MAXMotionConfig maxMotion;
    FeedForwardConfig feedForward;
};  // ClosedLoopConfig
 
}  // namespace rev::spark