ServoHubSim.h

Go to the documentation of this file.

/*
 * Copyright (c) 2024 REV Robotics
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 * 3. Neither the name of REV Robotics nor the names of its
 *    contributors may be used to endorse or promote products derived from
 *    this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef FRC_REVLIB_SRC_MAIN_NATIVE_INCLUDE_REV_SERVOHUBSIM_H_
#define FRC_REVLIB_SRC_MAIN_NATIVE_INCLUDE_REV_SERVOHUBSIM_H_
 
#include <memory>
#include <string>
#include <vector>
 
#include "rev/ServoHub.h"
#include "rev/sim/ServoHubSimFaultManager.h"
 
namespace rev::servohub {
 
class ServoHubSim {
public:
    explicit ServoHubSim(ServoHub* servoHub);
 
    double GetDeviceVoltage() const;
 
    void SetDeviceVoltage(double voltage);
 
    double GetDeviceCurrent() const;
 
    void SetDeviceCurrent(double current);
 
    double GetServoVoltage() const;
 
    void SetServoVoltage(double voltage);
 
    int GetBankPulsePeriod(ServoHub::Bank bank) const;
 
    void SetBankPulsePeriod(ServoHub::Bank bank, int pulsePeriod_us);
 
    void enable();
 
    void disable();
 
    void useDriverStationEnable();
 
    ServoHubSimFaultManager GetFaultManager();
 
private:
    hal::SimDouble m_deviceVoltage;
    hal::SimDouble m_deviceCurrent;
    hal::SimDouble m_servoVoltage;
    hal::SimInt m_bankPulsePeriods[2];
 
    ServoHub* m_servoHub;
    std::string m_deviceName;
    std::unique_ptr<bool> m_enable;
};
 
}  // namespace rev::servohub
 
#endif  // FRC_REVLIB_SRC_MAIN_NATIVE_INCLUDE_REV_SERVOHUBSIM_H_