SmartMotionConfigAccessor.h

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/*
 * Copyright (c) 2024 REV Robotics
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 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#pragma once
 
#include "rev/config/ClosedLoopConfig.h"
#include "rev/config/ClosedLoopSlot.h"
 
namespace rev::spark {
 
class SmartMotionConfigAccessor {
    friend class ClosedLoopConfigAccessor;
 
protected:
    explicit SmartMotionConfigAccessor(void* sparkHandle);
 
private:
    void* m_sparkHandle;
 
public:
    double GetMaxVelocity(ClosedLoopSlot slot = ClosedLoopSlot::kSlot0);
    double GetMaxAcceleration(ClosedLoopSlot slot = ClosedLoopSlot::kSlot0);
    double GetMinOutputVelocity(ClosedLoopSlot slot = ClosedLoopSlot::kSlot0);
    double GetAllowedClosedLoopError(
        ClosedLoopSlot slot = ClosedLoopSlot::kSlot0);
};
 
}  // namespace rev::spark