REVLib - C++
SparkMaxAnalogSensor.h
Go to the documentation of this file.
1/*
2 * Copyright (c) 2021-2023 REV Robotics
3 *
4 * Redistribution and use in source and binary forms, with or without
5 * modification, are permitted provided that the following conditions are met:
6 *
7 * 1. Redistributions of source code must retain the above copyright notice,
8 * this list of conditions and the following disclaimer.
9 * 2. Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * 3. Neither the name of REV Robotics nor the names of its
13 * contributors may be used to endorse or promote products derived from
14 * this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
17 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
18 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
19 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
20 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
21 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
22 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
23 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
24 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
25 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
26 * POSSIBILITY OF SUCH DAMAGE.
27 */
28
29#pragma once
30
31#ifdef _MSC_VER
32// Disable deprecation warnings for this file when using VS compiler
33#pragma warning(disable : 4996)
34#endif
35
36#ifdef __GNUC__
37#pragma GCC diagnostic push
38#pragma GCC diagnostic ignored "-Wdeprecated"
39#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
40#endif
41
42#include <stdint.h>
43
44#include <wpi/deprecated.h>
45
46#include "rev/AnalogInput.h"
47#include "rev/CANAnalog.h"
48#include "rev/REVLibError.h"
49
50namespace rev {
51
52class CANSparkBase;
53
57class WPI_DEPRECATED("Use SparkAnalogSensor instead") SparkMaxAnalogSensor
58 : public AnalogInput,
59 public CANAnalog {
60 friend class CANSparkBase;
61 friend class SparkAnalogSensor;
62
63public:
71 enum class WPI_DEPRECATED("Use SparkAnalogSensor::Mode instead") Mode {
72 kAbsolute = 0,
73 kRelative = 1
74 };
75
78
80
81 ~SparkMaxAnalogSensor() override = default;
82
88 double GetVoltage() const override;
89
97 double GetPosition() const override;
98
106 double GetVelocity() const override;
107
117 REVLibError SetPositionConversionFactor(double factor) override;
118
125 double GetPositionConversionFactor() const override;
126
137 REVLibError SetVelocityConversionFactor(double factor) override;
138
145 double GetVelocityConversionFactor() const override;
146
158 REVLibError SetAverageDepth(uint32_t depth) override;
159
171 REVLibError SetMeasurementPeriod(uint32_t period_ms) override;
172
178 uint32_t GetAverageDepth() const override;
179
185 uint32_t GetMeasurementPeriod() const override;
186
198 REVLibError SetInverted(bool inverted) override;
199
207 bool GetInverted() const override;
208
209private:
210 CANSparkBase* m_device;
211 Mode m_mode;
212
213 explicit SparkMaxAnalogSensor(CANSparkBase& device, Mode mode);
214
215 int GetSparkMaxFeedbackDeviceID() const override;
216
221 void SetSimVoltage(double voltage);
222
227 void SetSimPosition(double position);
228
233 void SetSimVelocity(double velocity);
234};
235
236} // namespace rev
237
238#ifdef __GNUC__
239#pragma GCC diagnostic pop
240#endif
Definition: AnalogInput.h:41
Definition: CANAnalog.h:44
Definition: CANSparkBase.h:72
Definition: SparkAnalogSensor.h:38
Definition: SparkMaxAnalogSensor.h:59
SparkMaxAnalogSensor(const SparkMaxAnalogSensor &rhs)=default
~SparkMaxAnalogSensor() override=default
SparkMaxAnalogSensor & operator=(SparkMaxAnalogSensor &&)=default
Mode
Definition: SparkMaxAnalogSensor.h:71
SparkMaxAnalogSensor(SparkMaxAnalogSensor &&)=default
Definition: CANSparkLowLevel.cpp:39
REVLibError
Definition: REVLibError.h:33