DetachedEncoder.h

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/*
 * Copyright (c) 2025-2026 REV Robotics
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 * modification, are permitted provided that the following conditions are met:
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#pragma once
 
#include <stdint.h>
 
#include <wpi/hardware/bus/CANPort.hpp>
 
#include "rev/ConfigureTypes.h"
#include "rev/DetachedEncoderLowLevel.h"
#include "rev/REVLibError.h"
#include "rev/RelativeEncoder.h"
#include "rev/config/DetachedEncoderConfigAccessor.h"
#include "rev/util/Signal.h"
 
namespace rev::detached {
 
class DetachedEncoderConfig;
 
class DetachedEncoder : public RelativeEncoder, public DetachedEncoderLowLevel {
public:
    DetachedEncoderConfigAccessor configAccessor;
 
    DetachedEncoder(DetachedEncoder&& rhs) = default;
    DetachedEncoder& operator=(DetachedEncoder&& rhs) = default;
 
    DetachedEncoder(const DetachedEncoder& rhs) = default;
 
    ~DetachedEncoder() override = default;
 
    rev::util::Signal<double> GetPosition() const override;
 
    rev::util::Signal<double> GetVelocity() const override;
 
    rev::util::Signal<double> GetAngle() const;
 
    rev::util::Signal<double> GetRawAngle() const;
 
    REVLibError SetPosition(double position) override;
 
    /* ***** Extended Functions ****** */
 
    REVLibError Configure(DetachedEncoderConfig& config,
                          rev::ResetMode resetMode);
 
    struct Faults {
        bool unexpected;
        bool hasReset;
        bool canTx;
        bool canRx;
        bool eeprom;
 
        int rawBits;
    };
 
    rev::util::Signal<Faults> GetFaults() const;
 
    rev::util::Signal<Faults> GetStickyFaults() const;
 
    REVLibError ClearFaults();
 
protected:
    DetachedEncoder(wpi::CANPort canPort, int deviceID, EncoderModel model);
};
 
}  // namespace rev::detached