SparkMax.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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 * 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.
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 *    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 <atomic>
 
#include <wpi/hardware/bus/CANPort.hpp>
 
#include "SparkBase.h"
#include "rev/ConfigureTypes.h"
#include "rev/SparkMaxAlternateEncoder.h"
#include "rev/config/SparkMaxConfigAccessor.h"
 
namespace rev::spark {
 
class SparkMax : public SparkBase {
    friend class SparkMaxAlternateEncoder;
 
public:
    SparkMaxConfigAccessor configAccessor;
 
    SparkMax(wpi::CANPort canPort, int deviceID, MotorType type);
 
    ~SparkMax() override = default;
 
    REVLibError Configure(SparkBaseConfig& config, rev::ResetMode resetMode,
                          rev::PersistMode persistMode) override;
 
    SparkMaxAlternateEncoder& GetAlternateEncoder();
 
    SparkAbsoluteEncoder& GetAbsoluteEncoder() override;
 
    SparkLimitSwitch& GetForwardLimitSwitch() override;
 
    SparkLimitSwitch& GetReverseLimitSwitch() override;
 
private:
    SparkMaxAlternateEncoder m_AltEncoder;
    std::atomic<bool> m_altEncoderCreated{false};
 
    void CheckDataPortAlternateEncoder();
    void CheckDataPortAbsoluteEncoder();
    void CheckDataPortLimitSwitch();
};
 
}  // namespace rev::spark