SparkBaseConfig.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 <string>
 
#include "rev/SparkBase.h"
#include "rev/config/AbsoluteEncoderConfig.h"
#include "rev/config/AnalogSensorConfig.h"
#include "rev/config/BaseConfig.h"
#include "rev/config/ClosedLoopConfig.h"
#include "rev/config/EncoderConfig.h"
#include "rev/config/LimitSwitchConfig.h"
#include "rev/config/SignalsConfig.h"
#include "rev/config/SoftLimitConfig.h"
#include "rev/config/SparkParameters.h"
 
namespace rev::spark {
 
class SparkBaseConfig : public BaseConfig {
public:
    enum IdleMode : uint32_t { kCoast = 0, kBrake = 1 };
 
    SparkBaseConfig() = default;
    ~SparkBaseConfig() override = default;
 
    SparkBaseConfig(const SparkBaseConfig&) = delete;
    SparkBaseConfig& operator=(const SparkBaseConfig&) = delete;
    SparkBaseConfig(SparkBaseConfig&&) noexcept = delete;
    SparkBaseConfig& operator=(SparkBaseConfig&&) noexcept = delete;
 
    virtual SparkBaseConfig& Apply(SparkBaseConfig& config);
 
    virtual SparkBaseConfig& Apply(AbsoluteEncoderConfig& config);
 
    virtual SparkBaseConfig& Apply(AnalogSensorConfig& config);
 
    virtual SparkBaseConfig& Apply(EncoderConfig& config);
 
    virtual SparkBaseConfig& Apply(LimitSwitchConfig& config);
 
    virtual SparkBaseConfig& Apply(SoftLimitConfig& config);
 
    virtual SparkBaseConfig& Apply(ClosedLoopConfig& config);
 
    virtual SparkBaseConfig& Apply(SignalsConfig& config);
 
    virtual SparkBaseConfig& SetIdleMode(IdleMode idleMode);
 
    virtual SparkBaseConfig& Inverted(bool inverted);
 
    virtual SparkBaseConfig& SmartCurrentLimit(int stallLimit,
                                               int freeLimit = 0,
                                               int limitRpm = 20000);
 
    virtual SparkBaseConfig& SecondaryCurrentLimit(double limit,
                                                   int chopCycles = 0);
 
    virtual SparkBaseConfig& OpenLoopRampRate(double rate);
 
    virtual SparkBaseConfig& ClosedLoopRampRate(double rate);
 
    virtual SparkBaseConfig& VoltageCompensation(double nominalVoltage);
 
    virtual SparkBaseConfig& DisableVoltageCompensation();
 
    virtual SparkBaseConfig& Follow(int leaderCanId, bool invert = false);
 
    virtual SparkBaseConfig& Follow(SparkBase& leader, bool invert = false);
 
    virtual SparkBaseConfig& DisableFollowerMode();
 
    std::string Flatten() override;
 
    AbsoluteEncoderConfig absoluteEncoder;
    AnalogSensorConfig analogSensor;
    ClosedLoopConfig closedLoop;
    EncoderConfig encoder;
    LimitSwitchConfig limitSwitch;
    SignalsConfig signals;
    SoftLimitConfig softLimit;
};  // class SparkBaseConfig
 
}  // namespace rev::spark