SparkSoftLimit.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
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#pragma once
 
#include "rev/REVLibError.h"
 
namespace rev::spark {
 
class SparkBase;
 
class SparkSoftLimit {
    // Friend to allow construction
    friend class SparkBase;
 
public:
    SparkSoftLimit(SparkSoftLimit&&) = default;
    SparkSoftLimit& operator=(SparkSoftLimit&&) = default;
 
    SparkSoftLimit(const SparkSoftLimit&) = default;
 
    virtual ~SparkSoftLimit() {}
 
    virtual bool isReached() const;
 
private:
    enum class Direction { kForward = 0, kReverse = 1 };
 
    SparkBase* m_device;
    Direction m_direction;
 
    SparkSoftLimit(SparkBase& device, Direction direction);
};
 
}  // namespace rev::spark