SparkFlex.h

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/*
 * 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:
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 * 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
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 * 3. Neither the name of REV Robotics nor the names of its
 *    contributors may be used to endorse or promote products derived from
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#pragma once
 
#include <wpi/hardware/bus/CANPort.hpp>
 
#include "SparkBase.h"
#include "rev/SparkFlexExternalEncoder.h"
#include "rev/config/SparkFlexConfigAccessor.h"
 
namespace rev::spark {
 
class SparkFlex : public SparkBase {
    friend class SparkFlexExternalEncoder;
 
public:
    SparkFlexConfigAccessor configAccessor;
 
    SparkFlex(wpi::CANPort canPort, int deviceID, MotorType type);
 
    SparkFlexExternalEncoder& GetExternalEncoder();
 
    ~SparkFlex() override = default;
 
private:
    SparkFlexExternalEncoder m_ExternalEncoder;
};
 
}  // namespace rev::spark