SparkClosedLoopController.h

Go to the documentation of this file.

/*
 * Copyright (c) 2018-2026 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.
 *
 * 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
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#pragma once
 
#include "rev/ClosedLoopTypes.h"
#include "rev/REVLibError.h"
#include "rev/SparkLowLevel.h"
#include "rev/util/Signal.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 SetSetpoint(double setpoint, SparkLowLevel::ControlType ctrl,
                            ClosedLoopSlot slot = ClosedLoopSlot::kSlot0,
                            double arbFeedforward = 0,
                            SparkClosedLoopController::ArbFFUnits arbFFUnits =
                                ArbFFUnits::kVoltage);
 
    SparkLowLevel::ControlType GetControlType() const { return m_controlType; }
 
    REVLibError SetIAccum(double iAccum);
 
    rev::util::Signal<double> GetIAccum() const;
 
    rev::util::Signal<double> GetSetpoint() const;
 
    rev::util::Signal<bool> IsAtSetpoint() const;
 
    rev::util::Signal<ClosedLoopSlot> GetSelectedSlot() const;
 
    rev::util::Signal<double> GetMAXMotionSetpointPosition() const;
 
    rev::util::Signal<double> GetMAXMotionSetpointVelocity() const;
 
private:
    SparkBase* m_device;
 
    SparkLowLevel::ControlType m_controlType{
        SparkLowLevel::ControlType::kDutyCycle};
 
    explicit SparkClosedLoopController(SparkBase& device);
};
 
}  // namespace rev::spark