rev::spark::LimitSwitchConfig Class Reference

#include <LimitSwitchConfig.h>

Inherits rev::BaseConfig.

Public Types
enum	Behavior : uint32_t { kKeepMovingMotor = 0 , kStopMovingMotor = 1 , kKeepMovingMotorAndSetPosition = 2 , kStopMovingMotorAndSetPosition = 3 }
enum	Type { kNormallyOpen = 0 , kNormallyClosed = 1 }

Public Member Functions
	LimitSwitchConfig ()=default
	~LimitSwitchConfig () override=default
	LimitSwitchConfig (const LimitSwitchConfig &)=delete
LimitSwitchConfig &	operator= (const LimitSwitchConfig &)=delete
	LimitSwitchConfig (LimitSwitchConfig &&) noexcept=delete
LimitSwitchConfig &	operator= (LimitSwitchConfig &&) noexcept=delete
LimitSwitchConfig &	Apply (LimitSwitchConfig &config)
LimitSwitchConfig &	SetSparkMaxDataPortConfig ()
LimitSwitchConfig &	ForwardLimitSwitchEnabled (bool enabled)
LimitSwitchConfig &	ForwardLimitSwitchTriggerBehavior (Behavior behavior)
LimitSwitchConfig &	ForwardLimitSwitchType (Type type)
LimitSwitchConfig &	ForwardLimitSwitchPosition (double position)
LimitSwitchConfig &	ReverseLimitSwitchEnabled (bool enabled)
LimitSwitchConfig &	ReverseLimitSwitchTriggerBehavior (Behavior behavior)
LimitSwitchConfig &	ReverseLimitSwitchType (Type type)
LimitSwitchConfig &	ReverseLimitSwitchPosition (double position)
LimitSwitchConfig &	LimitSwitchPositionSensor (FeedbackSensor sensor)
Public Member Functions inherited from rev::BaseConfig
virtual	~BaseConfig ()=default
virtual std::string	Flatten ()

Additional Inherited Members
Protected Types inherited from rev::BaseConfig
using	REVLibConfig_t = std::variant< int32_t, uint32_t, float, bool >
Protected Member Functions inherited from rev::BaseConfig
	BaseConfig ()=default
	BaseConfig (const BaseConfig &)=delete
BaseConfig &	operator= (const BaseConfig &)=delete
	BaseConfig (BaseConfig &&) noexcept=delete
BaseConfig &	operator= (BaseConfig &&) noexcept=delete
template<typename ConfigType >
void	PutParameter (uint8_t parameterId, ConfigType value)
std::optional< REVLibConfig_t >	GetParameter (uint8_t parameterId)
void	RemoveParameter (uint8_t parameterId)
void	Apply (BaseConfig &config)
Static Protected Member Functions inherited from rev::BaseConfig
static std::optional< REVLibConfig_t >	GetParameter (BaseConfig &fromConfig, uint8_t parameterId)
static void	RemoveParameter (BaseConfig &fromConfig, uint8_t parameterId)

Member Enumeration Documentation

Behavior

enum rev::spark::LimitSwitchConfig::Behavior : uint32_t

Enumerator
kKeepMovingMotor
kStopMovingMotor
kKeepMovingMotorAndSetPosition
kStopMovingMotorAndSetPosition

Type

enum rev::spark::LimitSwitchConfig::Type

Enumerator
kNormallyOpen
kNormallyClosed

Constructor & Destructor Documentation

LimitSwitchConfig() [1/3]

rev::spark::LimitSwitchConfig::LimitSwitchConfig ( )

default

~LimitSwitchConfig()

rev::spark::LimitSwitchConfig::~LimitSwitchConfig ( )

overridedefault

LimitSwitchConfig() [2/3]

rev::spark::LimitSwitchConfig::LimitSwitchConfig ( const LimitSwitchConfig &  )

delete

LimitSwitchConfig() [3/3]

rev::spark::LimitSwitchConfig::LimitSwitchConfig ( LimitSwitchConfig &&  )

deletenoexcept

Member Function Documentation

operator=() [1/2]

LimitSwitchConfig & rev::spark::LimitSwitchConfig::operator= ( const LimitSwitchConfig &  )

delete

operator=() [2/2]

LimitSwitchConfig & rev::spark::LimitSwitchConfig::operator= ( LimitSwitchConfig &&  )

deletenoexcept

Apply()

LimitSwitchConfig & LimitSwitchConfig::Apply

(

LimitSwitchConfig &

config

)

Applies settings from another LimitSwitchConfig to this one.

Settings in the provided config will overwrite existing values in this object. Settings not specified in the provided config remain unchanged.

Parameters

config

The LimitSwitchConfig to copy settings from

Returns

The updated LimitSwitchConfig for method chaining

SetSparkMaxDataPortConfig()

LimitSwitchConfig & LimitSwitchConfig::SetSparkMaxDataPortConfig

(

)

Configures the data port to use limit switches, which is specifically required for SPARK MAX.

NOTE: This method is only necessary when using limit switches with a SPARK MAX without configuring any of its settings

IMPORTANT: SPARK MAX does not support using limit switches in conjunction with an alternate encoder.

Returns

The modified LimitSwitchConfig object for method chaining

ForwardLimitSwitchEnabled()

LimitSwitchConfig & LimitSwitchConfig::ForwardLimitSwitchEnabled

(

bool

enabled

)

Set whether to enable/disable motor shutdown based on the forward limit switch state. This does not not affect the result of the isPressed() command.

Parameters

enabled

True for halting the motor when triggered

Returns

The modified LimitSwitchConfig object for method chaining

ForwardLimitSwitchTriggerBehavior()

LimitSwitchConfig & LimitSwitchConfig::ForwardLimitSwitchTriggerBehavior

(

Behavior

behavior

)

Set the trigger behavior based on the forward limit switch state. This does not not affect the result of the isPressed() command.

Parameters

behavior

The trigger behavior

Returns

The modified LimitSwitchConfig object for method chaining

ForwardLimitSwitchType()

LimitSwitchConfig & LimitSwitchConfig::ForwardLimitSwitchType

(

Type

type

)

Set the normal state of the forward limit switch.

Parameters

type	kNormallyOpen or kNormallyClosed

Returns

The modified LimitSwitchConfig object for method chaining

ForwardLimitSwitchPosition()

LimitSwitchConfig & LimitSwitchConfig::ForwardLimitSwitchPosition

(

double

position

)

Set the triggered position value of the forward limit switch (used when the enable mode is set to kEnabled_SetValueOnTrigger).

Parameters

position

user specified position value

Returns

The modified LimitSwitchConfig object for method chaining

ReverseLimitSwitchEnabled()

LimitSwitchConfig & LimitSwitchConfig::ReverseLimitSwitchEnabled

(

bool

enabled

)

Set whether to enable/disable motor shutdown based on the reverse limit switch state. This does not not affect the result of the isPressed() command.

Parameters

enabled

True for halting the motor when triggered

Returns

The modified LimitSwitchConfig object for method chaining

ReverseLimitSwitchTriggerBehavior()

LimitSwitchConfig & LimitSwitchConfig::ReverseLimitSwitchTriggerBehavior

(

Behavior

behavior

)

Set the trigger behavior based on the reverse limit switch state. This does not not affect the result of the isPressed() command.

Parameters

behavior

The trigger behavior

Returns

The modified LimitSwitchConfig object for method chaining

ReverseLimitSwitchType()

LimitSwitchConfig & LimitSwitchConfig::ReverseLimitSwitchType

(

Type

type

)

Set the normal state of the reverse limit switch.

Parameters

type	kNormallyOpen or kNormallyClosed

Returns

The modified LimitSwitchConfig object for method chaining

ReverseLimitSwitchPosition()

LimitSwitchConfig & LimitSwitchConfig::ReverseLimitSwitchPosition

(

double

position

)

Set the triggered position value of the reverse limit switch (used when the enable mode is set to kEnabled_SetValueOnTrigger).

Parameters

position

user specified position value

Returns

The modified LimitSwitchConfig object for method chaining

LimitSwitchPositionSensor()

LimitSwitchConfig & LimitSwitchConfig::LimitSwitchPositionSensor

(

FeedbackSensor

sensor

)

Specifies the feedback sensor that the triggered position value is set on. This applies for both forward and reverse limit switches.

Parameters

sensor

The feedback sensor to set the position value on

Returns

The modified LimitSwitchConfig object for method chaining

---

The documentation for this class was generated from the following files:

• src/main/native/include/rev/config/LimitSwitchConfig.h
• src/main/native/cpp/config/LimitSwitchConfig.cpp