SparkClosedLoopController.h

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/*
 * Copyright (c) 2018-2024 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
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#pragma once
 
#ifdef _MSC_VER
// Disable deprecation warnings for this file when using VS compiler
#pragma warning(disable : 4996)
#endif
 
#ifdef __GNUC__
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated"
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
 
#include <wpi/deprecated.h>
 
#include "rev/REVLibError.h"
#include "rev/SparkLowLevel.h"
 
namespace rev::spark {
 
class SparkBase;
 
class SparkClosedLoopController {
    friend class SparkBase;
 
public:
    enum class ArbFFUnits { kVoltage = 0, kPercentOut = 1 };
 
    SparkClosedLoopController(SparkClosedLoopController&&) = default;
    SparkClosedLoopController& operator=(SparkClosedLoopController&&) = default;
 
    SparkClosedLoopController(const SparkClosedLoopController& rhs) = default;
 
    ~SparkClosedLoopController() = default;
 
    REVLibError SetReference(double value, SparkLowLevel::ControlType ctrl,
                             int pidSlot = 0, double arbFeedforward = 0,
                             SparkClosedLoopController::ArbFFUnits arbFFUnits =
                                 ArbFFUnits::kVoltage);
 
    REVLibError SetIAccum(double iAccum);
 
    double GetIAccum() const;
 
private:
    SparkBase* m_device;
 
    explicit SparkClosedLoopController(SparkBase& device);
};
 
}  // namespace rev::spark
 
#ifdef __GNUC__
#pragma GCC diagnostic pop
#endif