ExternalEncoderConfig.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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#pragma once
 
#include "rev/config/BaseConfig.h"
 
namespace rev::spark {
 
class ExternalEncoderConfig : public BaseConfig {
public:
    enum Type { kQuadrature = 0 };
 
    static Type FromId(int id) { return kQuadrature; }
 
    ExternalEncoderConfig() = default;
    ~ExternalEncoderConfig() override = default;
 
    ExternalEncoderConfig(const ExternalEncoderConfig&) = default;
    ExternalEncoderConfig& operator=(const ExternalEncoderConfig&) = delete;
    ExternalEncoderConfig(ExternalEncoderConfig&&) noexcept = delete;
    ExternalEncoderConfig& operator=(ExternalEncoderConfig&&) noexcept = delete;
 
    struct Presets final {
        // REV Robotics - Through Bore Encoder
        static ExternalEncoderConfig& REV_ThroughBoreEncoder() {
            static ExternalEncoderConfig config{
                ExternalEncoderConfig().CountsPerRevolution(8192)};
            return config;
        }
 
        // REV Robotics - Through Bore Encoder V2
        static ExternalEncoderConfig& REV_ThroughBoreEncoderV2() {
            static ExternalEncoderConfig config{
                ExternalEncoderConfig().CountsPerRevolution(8192)};
            return config;
        }
 
        static ExternalEncoderConfig& REV_SplineEncoder() {
            static ExternalEncoderConfig config{
                ExternalEncoderConfig().CountsPerRevolution(8192)};
            return config;
        }
    };
 
    ExternalEncoderConfig& Apply(ExternalEncoderConfig& config);
 
    ExternalEncoderConfig& CountsPerRevolution(int cpr);
 
    ExternalEncoderConfig& Inverted(bool inverted);
 
    ExternalEncoderConfig& PositionConversionFactor(double factor);
 
    ExternalEncoderConfig& VelocityConversionFactor(double factor);
 
    ExternalEncoderConfig& AverageDepth(int depth);
 
    ExternalEncoderConfig& MeasurementPeriod(int periodMs);
};
 
}  // namespace rev::spark