MAXMotionConfig.h

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/*
 * Copyright (c) 2024 REV Robotics
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 * modification, are permitted provided that the following conditions are met:
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#pragma once
 
#include "rev/config/BaseConfig.h"
#include "rev/config/ClosedLoopSlot.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);
 
    MAXMotionConfig& MaxVelocity(double maxVelocity,
                                 ClosedLoopSlot slot = kSlot0);
 
    MAXMotionConfig& MaxAcceleration(double maxAcceleration,
                                     ClosedLoopSlot slot = kSlot0);
 
    MAXMotionConfig& AllowedClosedLoopError(double allowedError,
                                            ClosedLoopSlot slot = kSlot0);
 
    MAXMotionConfig& PositionMode(MAXMotionPositionMode mode,
                                  ClosedLoopSlot slot = kSlot0);
};
 
}  // namespace rev::spark