ClosedLoopConfigAccessor.h

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/*
 * Copyright (c) 2024 REV Robotics
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#pragma once
 
#include "rev/config/ClosedLoopConfig.h"
#include "rev/config/ClosedLoopSlot.h"
#include "rev/config/MAXMotionConfigAccessor.h"
#include "rev/config/SmartMotionConfigAccessor.h"
 
namespace rev::spark {
 
class ClosedLoopConfigAccessor {
    friend class SparkBaseConfigAccessor;
 
protected:
    explicit ClosedLoopConfigAccessor(void* sparkHandle);
 
private:
    void* m_sparkHandle;
 
public:
    MAXMotionConfigAccessor maxMotion;
    SmartMotionConfigAccessor smartMotion;
 
    double GetP(ClosedLoopSlot slot = ClosedLoopSlot::kSlot0);
    double GetI(ClosedLoopSlot slot = ClosedLoopSlot::kSlot0);
    double GetD(ClosedLoopSlot slot = ClosedLoopSlot::kSlot0);
    double GetFF(ClosedLoopSlot slot = ClosedLoopSlot::kSlot0);
    double GetDFilter(ClosedLoopSlot slot = ClosedLoopSlot::kSlot0);
    double GetIZone(ClosedLoopSlot slot = ClosedLoopSlot::kSlot0);
    double GetMinOutput(ClosedLoopSlot slot = ClosedLoopSlot::kSlot0);
    double GetMaxOutput(ClosedLoopSlot slot = ClosedLoopSlot::kSlot0);
    double GetMaxIAccumulation(ClosedLoopSlot slot = ClosedLoopSlot::kSlot0);
    bool GetPositionWrappingEnabled();
    double GetPositionWrappingMinInput();
    double GetPositionWrappingMaxInput();
    ClosedLoopConfig::FeedbackSensor GetFeedbackSensor();
};
 
}  // namespace rev::spark