SparkMax.h

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/*
 * Copyright (c) 2018-2025 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
 *    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
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 */
 
#pragma once
 
#include <atomic>
 
#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;
 
    explicit SparkMax(int deviceID, MotorType type);
 
    ~SparkMax() override = default;
 
    /*
     * @deprecated Use {@link #Configure(SparkBaseConfig&, rev::ResetMode,
     * rev::PersistMode)} instead. This method will be removed in 2027.
     */
    [[deprecated(
        "Use Configure(SparkBaseConfig&, rev::ResetMode, rev::PersistMode) "
        "instead. This method will be removed in 2027.")]]
    REVLibError Configure(SparkBaseConfig& config, ResetMode resetMode,
                          PersistMode persistMode) override;
 
    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