EncoderConfig.h

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/*
 * Copyright (c) 2024-2026 REV Robotics
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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 * 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
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 *    contributors may be used to endorse or promote products derived from
 *    this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#pragma once
 
#include "rev/config/BaseConfig.h"
 
namespace rev::spark {
 
class EncoderConfig : public BaseConfig {
public:
    EncoderConfig() = default;
    ~EncoderConfig() override = default;
 
    EncoderConfig(const EncoderConfig&) = default;
    EncoderConfig& operator=(const EncoderConfig&) = delete;
    EncoderConfig(EncoderConfig&&) noexcept = delete;
    EncoderConfig& operator=(EncoderConfig&&) noexcept = delete;
 
    struct Presets final {
        // REV Robotics - Through Bore Encoder
        static EncoderConfig& REV_ThroughBoreEncoder() {
            static EncoderConfig config{
                EncoderConfig().CountsPerRevolution(8192)};
            return config;
        }
 
        // REV Robotics - Through Bore Encoder V2
        static EncoderConfig& REV_ThroughBoreEncoderV2() {
            static EncoderConfig config{
                EncoderConfig().CountsPerRevolution(8192)};
            return config;
        }
 
        static EncoderConfig& REV_SplineEncoder() {
            static EncoderConfig config{
                EncoderConfig().CountsPerRevolution(8192)};
            return config;
        }
    };
 
    EncoderConfig& Apply(EncoderConfig& config);
 
    EncoderConfig& CountsPerRevolution(int cpr);
 
    EncoderConfig& Inverted(bool inverted);
 
    EncoderConfig& PositionConversionFactor(double factor);
 
    EncoderConfig& VelocityConversionFactor(double factor);
 
    EncoderConfig& QuadratureAverageDepth(int depth);
 
    EncoderConfig& QuadratureMeasurementPeriod(int periodMs);
 
    EncoderConfig& UvwAverageDepth(int depth);
 
    EncoderConfig& UvwMeasurementPeriod(int periodMs);
};
 
}  // namespace rev::spark