LimitSwitchConfig.h

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/*
 * Copyright (c) 2024-2026 REV Robotics
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#pragma once
 
#include "rev/ClosedLoopTypes.h"
#include "rev/config/BaseConfig.h"
 
namespace rev::spark {
 
class LimitSwitchConfig : public BaseConfig {
public:
    enum Behavior : uint32_t {
        kKeepMovingMotor = 0,
        kStopMovingMotor = 1,
        kKeepMovingMotorAndSetPosition = 2,
        kStopMovingMotorAndSetPosition = 3,
    };
    enum Type { kNormallyOpen = 0, kNormallyClosed = 1 };
 
    LimitSwitchConfig() = default;
    ~LimitSwitchConfig() override = default;
 
    LimitSwitchConfig(const LimitSwitchConfig&) = default;
    LimitSwitchConfig& operator=(const LimitSwitchConfig&) = delete;
    LimitSwitchConfig(LimitSwitchConfig&&) noexcept = delete;
    LimitSwitchConfig& operator=(LimitSwitchConfig&&) noexcept = delete;
 
    LimitSwitchConfig& Apply(LimitSwitchConfig& config);
 
    LimitSwitchConfig& SetSparkMaxDataPortConfig();
 
    LimitSwitchConfig& ForwardLimitSwitchTriggerBehavior(Behavior behavior);
 
    LimitSwitchConfig& ForwardLimitSwitchType(Type type);
 
    LimitSwitchConfig& ForwardLimitSwitchPosition(double position);
 
    LimitSwitchConfig& ReverseLimitSwitchTriggerBehavior(Behavior behavior);
 
    LimitSwitchConfig& ReverseLimitSwitchType(Type type);
 
    LimitSwitchConfig& ReverseLimitSwitchPosition(double position);
 
    LimitSwitchConfig& LimitSwitchPositionSensor(FeedbackSensor sensor);
};
 
}  // namespace rev::spark