MAXMotionConfigAccessor.h

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 * Copyright (c) 2024-2026 REV Robotics
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#pragma once
 
#include "rev/ClosedLoopTypes.h"
#include "rev/config/MAXMotionConfig.h"
 
namespace rev::spark {
 
class MAXMotionConfigAccessor {
    friend class ClosedLoopConfigAccessor;
 
protected:
    explicit MAXMotionConfigAccessor(void* sparkHandle);
 
private:
    void* m_sparkHandle;
 
public:
    double GetMaxAcceleration(ClosedLoopSlot slot = ClosedLoopSlot::kSlot0);
    double GetCruiseVelocity(ClosedLoopSlot slot = ClosedLoopSlot::kSlot0);
    double GetAllowedProfileError(ClosedLoopSlot slot = ClosedLoopSlot::kSlot0);
    MAXMotionConfig::MAXMotionPositionMode GetPositionMode(
        ClosedLoopSlot slot = ClosedLoopSlot::kSlot0);
};
 
}  // namespace rev::spark