FeedForwardConfig.h

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#pragma once
 
#include "rev/ClosedLoopTypes.h"
#include "rev/config/BaseConfig.h"
 
namespace rev::spark {
 
class FeedForwardConfig : public BaseConfig {
public:
    FeedForwardConfig() = default;
    ~FeedForwardConfig() override = default;
 
    FeedForwardConfig(const FeedForwardConfig&) = delete;
    FeedForwardConfig& operator=(const FeedForwardConfig&) = delete;
    FeedForwardConfig(FeedForwardConfig&&) noexcept = delete;
    FeedForwardConfig& operator=(FeedForwardConfig&&) noexcept = delete;
 
    FeedForwardConfig& Apply(FeedForwardConfig& config);
 
    FeedForwardConfig& kS(double kS, ClosedLoopSlot slot = kSlot0);
 
    FeedForwardConfig& kV(double kV, ClosedLoopSlot slot = kSlot0);
 
    FeedForwardConfig& kA(double kA, ClosedLoopSlot slot = kSlot0);
 
    FeedForwardConfig& kG(double kG, ClosedLoopSlot slot = kSlot0);
 
    FeedForwardConfig& kCos(double kCos, ClosedLoopSlot slot = kSlot0);
 
    FeedForwardConfig& kCosRatio(double kCosRatio,
                                 ClosedLoopSlot slot = kSlot0);
 
    FeedForwardConfig& sv(double kS, double kV, ClosedLoopSlot slot = kSlot0);
 
    FeedForwardConfig& sva(double kS, double kV, double kA,
                           ClosedLoopSlot slot = kSlot0);
 
    FeedForwardConfig& svag(double kS, double kV, double kA, double kG,
                            ClosedLoopSlot slot = kSlot0);
 
    FeedForwardConfig& svacr(double kS, double kV, double kA, double kCos,
                             double kCosRatio, ClosedLoopSlot slot = kSlot0);
 
    FeedForwardConfig& sg(double kS, double kG, ClosedLoopSlot slot = kSlot0);
 
    FeedForwardConfig& scr(double kS, double kCos, double kCosRatio,
                           ClosedLoopSlot slot = kSlot0);
};
}  // namespace rev::spark