SparkBaseConfig.h

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/*
 * Copyright (c) 2024-2026 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.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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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&) = default;
    SparkBaseConfig& operator=(const SparkBaseConfig&) = delete;
    SparkBaseConfig(SparkBaseConfig&&) noexcept = delete;
    SparkBaseConfig& operator=(SparkBaseConfig&&) noexcept = delete;
 
    struct Presets final {
        static SparkBaseConfig& REV_NEO() {
            static SparkBaseConfig config{
                SparkBaseConfig().SmartCurrentLimit(60)};
            return config;
        }
 
        static SparkBaseConfig& REV_NEO_2() {
            static SparkBaseConfig config{
                SparkBaseConfig().SmartCurrentLimit(60)};
            return config;
        }
 
        static SparkBaseConfig& REV_NEO_550() {
            static SparkBaseConfig config{
                SparkBaseConfig().SmartCurrentLimit(15)};
            return config;
        }
 
        static SparkBaseConfig& REV_Vortex() {
            static SparkBaseConfig config{
                SparkBaseConfig().SmartCurrentLimit(80)};
            return config;
        }
 
        /* CTRE - Minion: Standalone Brushless Motor */
        static SparkBaseConfig& CTRE_Minion() {
            static SparkBaseConfig config{
                SparkBaseConfig().SmartCurrentLimit(30).AdvanceCommutation(
                    120.0)};
            return config;
        }
    };
 
    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);
 
    SparkBaseConfig& SetIdleMode(IdleMode idleMode);
 
    SparkBaseConfig& Inverted(bool inverted);
 
    SparkBaseConfig& SmartCurrentLimit(int stallLimit, int freeLimit = 0,
                                       int limitRpm = 20000);
 
    SparkBaseConfig& SecondaryCurrentLimit(double limit, int chopCycles = 0);
 
    SparkBaseConfig& AdvanceCommutation(double byDegrees = 0.0);
 
    SparkBaseConfig& OpenLoopRampRate(double rate);
 
    SparkBaseConfig& ClosedLoopRampRate(double rate);
 
    SparkBaseConfig& VoltageCompensation(double nominalVoltage);
 
    SparkBaseConfig& DisableVoltageCompensation();
 
    SparkBaseConfig& Follow(int leaderCanId, bool invert = false);
 
    SparkBaseConfig& Follow(const SparkBase& leader, bool invert = false);
 
    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