DetachedEncoderConfig.h

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/*
 * Copyright (c) 2025-2026 REV Robotics
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#pragma once
 
#include <string>
 
#include "rev/config/BaseConfig.h"
#include "rev/config/DetachedSignalsConfig.h"
 
namespace rev::detached {
 
class DetachedEncoderConfig : public BaseConfig {
public:
    DetachedEncoderConfig() = default;
    ~DetachedEncoderConfig() override = default;
 
    DetachedEncoderConfig(const DetachedEncoderConfig&) = delete;
    DetachedEncoderConfig& operator=(const DetachedEncoderConfig&) = delete;
    DetachedEncoderConfig(DetachedEncoderConfig&&) noexcept = delete;
    DetachedEncoderConfig& operator=(DetachedEncoderConfig&&) noexcept = delete;
 
    DetachedEncoderConfig& Apply(DetachedEncoderConfig& config);
 
    DetachedEncoderConfig& Apply(SignalsConfig& config);
 
    DetachedEncoderConfig& Inverted(bool inverted);
 
    DetachedEncoderConfig& VelocityConversionFactor(double factor);
 
    DetachedEncoderConfig& VelocityAverageDepth(int depth);
 
    // Relative Encoder Specific Settings
 
    DetachedEncoderConfig& PositionConversionFactor(double factor);
 
    // Absolute Encoder Specific Settings
 
    DetachedEncoderConfig& AngleConversionFactor(double factor);
 
    DetachedEncoderConfig& ZeroOffset(double offset);
 
    DetachedEncoderConfig& ZeroCentered(bool zeroCentered);
 
    DetachedEncoderConfig& StartPulseUs(double startPulseUs);
 
    DetachedEncoderConfig& EndPulseUs(double endPulseUs);
 
    DetachedEncoderConfig& AbsolutePeriodUs(double periodUs);
 
    std::string Flatten() override;
 
    SignalsConfig signals;
};  // DetachedEncoderConfig
 
}  // namespace rev::detached