SparkFlexExternalEncoder.h

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/*
 * Copyright (c) 2021-2023 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
 
#include <stdint.h>
 
#include <atomic>
 
#include "rev/REVLibError.h"
#include "rev/RelativeEncoder.h"
 
namespace rev {
 
class CANSparkFlex;
 
class SparkFlexExternalEncoder : public RelativeEncoder {
    // Friend to allow construction
    friend class CANSparkFlex;
 
public:
    enum class Type { kQuadrature };
 
    SparkFlexExternalEncoder(SparkFlexExternalEncoder&& rhs) = default;
    SparkFlexExternalEncoder& operator=(SparkFlexExternalEncoder&& rhs) =
        default;
 
    SparkFlexExternalEncoder(const SparkFlexExternalEncoder& rhs) = default;
 
    ~SparkFlexExternalEncoder() override = default;
 
    double GetPosition() const override;
 
    double GetVelocity() const override;
 
    REVLibError SetPosition(double position) override;
 
    REVLibError SetPositionConversionFactor(double factor) override;
 
    REVLibError SetVelocityConversionFactor(double factor) override;
 
    double GetPositionConversionFactor() const override;
 
    double GetVelocityConversionFactor() const override;
 
    REVLibError SetAverageDepth(uint32_t depth) override;
 
    REVLibError SetMeasurementPeriod(uint32_t period_ms) override;
 
    uint32_t GetAverageDepth() const override;
 
    uint32_t GetMeasurementPeriod() const override;
 
    uint32_t GetCountsPerRevolution() const override;
 
    REVLibError SetInverted(bool inverted) override;
 
    bool GetInverted() const override;
 
private:
    CANSparkFlex* m_device;
    int m_countsPerRev;
 
    explicit SparkFlexExternalEncoder(CANSparkFlex& device, Type type,
                                      int countsPerRev);
 
    int GetSparkMaxFeedbackDeviceID() const override;
};
 
}  // namespace rev