SparkBaseConfigAccessor.h

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/*
 * Copyright (c) 2024 REV Robotics
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#pragma once
 
#include "rev/config/AbsoluteEncoderConfigAccessor.h"
#include "rev/config/AnalogSensorConfigAccessor.h"
#include "rev/config/ClosedLoopConfigAccessor.h"
#include "rev/config/EncoderConfigAccessor.h"
#include "rev/config/LimitSwitchConfigAccessor.h"
#include "rev/config/SignalsConfigAccessor.h"
#include "rev/config/SoftLimitConfigAccessor.h"
#include "rev/config/SparkBaseConfig.h"
 
namespace rev::spark {
 
class SparkBaseConfigAccessor {
protected:
    explicit SparkBaseConfigAccessor(void* sparkHandle);
 
private:
    void* m_sparkHandle;
 
public:
    AbsoluteEncoderConfigAccessor absoluteEncoder;
 
    AnalogSensorConfigAccessor analogSensor;
 
    ClosedLoopConfigAccessor closedLoop;
 
    EncoderConfigAccessor encoder;
 
    LimitSwitchConfigAccessor limitSwitch;
 
    SignalsConfigAccessor signals;
 
    SoftLimitConfigAccessor softLimit;
 
    SparkBaseConfig::IdleMode GetIdleMode();
    bool GetInverted();
    int GetSmartCurrentLimit();
    int GetSmartCurrentFreeLimit();
    int GetSmartCurrentRPMLimit();
    double GetSecondaryCurrentLimit();
    int GetSecondaryCurrentLimitChopCycles();
    double GetOpenLoopRampRate();
    double GetClosedLoopRampRate();
    double GetVoltageCompensation();
    bool GetVoltageCompensationEnabled();
    int GetFollowerModeLeaderId();
    bool GetFollowerModeInverted();
};  // class SparkBaseConfigAccessor
 
}  // namespace rev::spark