MAXMotionConfig.h

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#pragma once
 
#include "rev/ClosedLoopTypes.h"
#include "rev/config/BaseConfig.h"
 
namespace rev::spark {
 
class MAXMotionConfig : public BaseConfig {
public:
    enum MAXMotionPositionMode : uint32_t {
        kMAXMotionTrapezoidal = 0,
#if 0  // TODO(rylan): Add when S-curve is supported
        kMAXMotionSCurve = 1
#endif
    };
 
    MAXMotionConfig() = default;
    ~MAXMotionConfig() override = default;
 
    MAXMotionConfig(const MAXMotionConfig&) = delete;
    MAXMotionConfig& operator=(const MAXMotionConfig&) = delete;
    MAXMotionConfig(MAXMotionConfig&&) noexcept = delete;
    MAXMotionConfig& operator=(MAXMotionConfig&&) noexcept = delete;
 
    MAXMotionConfig& Apply(MAXMotionConfig& config);
 
    [[deprecated(
        "Use MAXMotionConfig::CruiseVelocity instead")]] MAXMotionConfig&
    MaxVelocity(double maxVelocity, ClosedLoopSlot slot = kSlot0);
 
    MAXMotionConfig& CruiseVelocity(double cruiseVelocity,
                                    ClosedLoopSlot slot = kSlot0);
 
    MAXMotionConfig& MaxAcceleration(double maxAcceleration,
                                     ClosedLoopSlot slot = kSlot0);
 
    [[deprecated(
        "Use MAXMotionConfig::AllowedProfileError instead")]] MAXMotionConfig&
    AllowedClosedLoopError(double allowedError, ClosedLoopSlot slot = kSlot0);
 
    MAXMotionConfig& AllowedProfileError(double allowedError,
                                         ClosedLoopSlot slot = kSlot0);
 
    MAXMotionConfig& PositionMode(MAXMotionPositionMode mode,
                                  ClosedLoopSlot slot = kSlot0);
};
 
}  // namespace rev::spark