IMotorController.h

#pragma once
 
#include "ctre/phoenix/motorcontrol/ControlMode.h"
#include "ctre/phoenix/motorcontrol/ControlFrame.h"
#include "ctre/phoenix/motorcontrol/DemandType.h"
#include "ctre/phoenix/motorcontrol/InvertType.h"
#include "ctre/phoenix/motorcontrol/NeutralMode.h"
#include "ctre/phoenix/motorcontrol/FeedbackDevice.h"
#include "ctre/phoenix/motorcontrol/RemoteSensorSource.h"
#include "ctre/phoenix/motorcontrol/SensorTerm.h"
#include "ctre/phoenix/motorcontrol/StatusFrame.h"
#include "ctre/phoenix/motorcontrol/LimitSwitchType.h"
#include "ctre/phoenix/motorcontrol/Faults.h"
#include "ctre/phoenix/motorcontrol/StickyFaults.h"
#include "ctre/phoenix/paramEnum.h"
#include "ctre/phoenix/motion/TrajectoryPoint.h"
#include "ctre/phoenix/motion/MotionProfileStatus.h"
#include "ctre/phoenix/sensors/CANCoder.h"
#include "ctre/phoenix/ErrorCode.h"
#include "IFollower.h"
 
namespace ctre {
namespace phoenix {
namespace motorcontrol {
 
namespace can {
// Forward-Proto BaseTalon
class BaseTalon; 
}
 
class IMotorController: public virtual IFollower {
public:
    virtual ~IMotorController() {
    }
    //------ Set output routines. ----------//
    virtual void Set(ControlMode Mode, double demand) = 0;
    virtual void Set(ControlMode mode, double demand0, DemandType demand1Type, double demand1) = 0;
    virtual void NeutralOutput() = 0;
    virtual void SetNeutralMode(NeutralMode neutralMode) = 0;
 
    //------ Invert behavior ----------//
    virtual void SetSensorPhase(bool PhaseSensor) = 0;
    virtual void SetInverted(bool invert) = 0;
    virtual void SetInverted(InvertType invertType) = 0;
    virtual bool GetInverted() const = 0;
 
    //----- Factory Default Configuration -----//
    virtual ErrorCode ConfigFactoryDefault(int timeout) = 0;
 
    //----- general output shaping ------------------//
    virtual ErrorCode ConfigOpenloopRamp(double secondsFromNeutralToFull,
            int timeoutMs = 0) = 0;
    virtual ErrorCode ConfigClosedloopRamp(double secondsFromNeutralToFull,
            int timeoutMs = 0) = 0;
    virtual ErrorCode ConfigPeakOutputForward(double percentOut,
            int timeoutMs = 0) = 0;
    virtual ErrorCode ConfigPeakOutputReverse(double percentOut,
            int timeoutMs = 0) = 0;
    virtual ErrorCode ConfigNominalOutputForward(double percentOut,
            int timeoutMs = 0) = 0;
    virtual ErrorCode ConfigNominalOutputReverse(double percentOut,
            int timeoutMs = 0) = 0;
    virtual ErrorCode ConfigNeutralDeadband(double percentDeadband,
            int timeoutMs = 0) = 0;
 
    //------ Voltage Compensation ----------//
    virtual ErrorCode ConfigVoltageCompSaturation(double voltage,
            int timeoutMs = 0) = 0;
    virtual ErrorCode ConfigVoltageMeasurementFilter(int filterWindowSamples,
            int timeoutMs = 0) = 0;
    virtual void EnableVoltageCompensation(bool enable) = 0;
 
    virtual bool IsVoltageCompensationEnabled() = 0;
 
    //------ General Status ----------//
    virtual double GetBusVoltage() = 0;
    virtual double GetMotorOutputPercent() = 0;
    virtual double GetMotorOutputVoltage() = 0;
    virtual double GetTemperature() = 0;
 
    //------ sensor selection ----------//
    virtual ErrorCode ConfigSelectedFeedbackSensor(
            RemoteFeedbackDevice feedbackDevice, int pidIdx = 0, int timeoutMs = 0) = 0;
    virtual ErrorCode ConfigSelectedFeedbackCoefficient(
            double coefficient, int pidIdx = 0, int timeoutMs = 0) = 0;
    virtual ErrorCode ConfigRemoteFeedbackFilter(int deviceID,
            RemoteSensorSource remoteSensorSource, int remoteOrdinal,
            int timeoutMs = 0)= 0;
    virtual ErrorCode ConfigRemoteFeedbackFilter(ctre::phoenix::sensors::CANCoder &canCoderRef, int remoteOrdinal, int timeoutMs = 0)= 0;
    virtual ErrorCode ConfigRemoteFeedbackFilter(ctre::phoenix::motorcontrol::can::BaseTalon &talonRef, int remoteOrdinal, int timeoutMs = 0)= 0;
    virtual ErrorCode ConfigSensorTerm(SensorTerm sensorTerm, FeedbackDevice feedbackDevice, int timeoutMs = 0)= 0;
 
    //------- sensor status --------- //
    virtual double GetSelectedSensorPosition(int pidIdx = 0) = 0;
    virtual double GetSelectedSensorVelocity(int pidIdx = 0) = 0;
    virtual ErrorCode SetSelectedSensorPosition(double sensorPos, int pidIdx = 0,
            int timeoutMs = 50) = 0;
 
    //------ status frame period changes ----------//
    virtual ErrorCode SetControlFramePeriod(ControlFrame frame,
            int periodMs) = 0;
    virtual ErrorCode SetStatusFramePeriod(StatusFrame frame, uint8_t periodMs,
            int timeoutMs = 0) = 0;
    virtual int GetStatusFramePeriod(StatusFrame frame, int timeoutMs = 0) = 0;
 
    //----- velocity signal conditionaing ------//
    /* not supported */
 
    //------ remote limit switch ----------//
    virtual ErrorCode ConfigForwardLimitSwitchSource(
            RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose,
            int deviceID, int timeoutMs = 0) = 0;
    virtual ErrorCode ConfigReverseLimitSwitchSource(
            RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose,
            int deviceID, int timeoutMs = 0) = 0;
    virtual void OverrideLimitSwitchesEnable(bool enable) = 0;
 
    //------ local limit switch ----------//
    /* not supported */
 
    //------ soft limit ----------//
    virtual ErrorCode ConfigForwardSoftLimitThreshold(double forwardSensorLimit,
            int timeoutMs = 0) = 0;
    virtual ErrorCode ConfigReverseSoftLimitThreshold(double reverseSensorLimit,
            int timeoutMs = 0) = 0;
    virtual ErrorCode ConfigForwardSoftLimitEnable(bool enable,
            int timeoutMs = 0) = 0;
    virtual ErrorCode ConfigReverseSoftLimitEnable(bool enable,
            int timeoutMs = 0) = 0;
    virtual void OverrideSoftLimitsEnable(bool enable) = 0;
 
    //------ Current Lim ----------//
    /* not supported */
 
    //------ Config Close loop ----------//
    virtual ErrorCode Config_kP(int slotIdx, double value, int timeoutMs = 0) = 0;
    virtual ErrorCode Config_kI(int slotIdx, double value, int timeoutMs = 0) = 0;
    virtual ErrorCode Config_kD(int slotIdx, double value, int timeoutMs = 0) = 0;
    virtual ErrorCode Config_kF(int slotIdx, double value, int timeoutMs = 0) = 0;
    virtual ErrorCode Config_IntegralZone(int slotIdx, double izone,
            int timeoutMs = 0) = 0;
    virtual ErrorCode ConfigAllowableClosedloopError(int slotIdx,
            double allowableCloseLoopError, int timeoutMs = 0) = 0;
    virtual ErrorCode ConfigMaxIntegralAccumulator(int slotIdx, double iaccum,
            int timeoutMs = 0) = 0;
    virtual ErrorCode ConfigClosedLoopPeakOutput(int slotIdx, double percentOut, int timeoutMs = 0) = 0;
    virtual ErrorCode ConfigClosedLoopPeriod(int slotIdx, int loopTimeMs, int timeoutMs = 0) = 0;
  
    virtual ErrorCode ConfigAuxPIDPolarity(bool invert, int timeoutMs = 0) = 0;
 
    //------ Close loop State ----------//
    virtual ErrorCode SetIntegralAccumulator(double iaccum, int pidIdx = 0,
            int timeoutMs = 0) = 0;
    virtual double GetClosedLoopError(int pidIdx = 0) = 0;
    virtual double GetIntegralAccumulator(int pidIdx = 0) = 0;
    virtual double GetErrorDerivative(int pidIdx = 0) = 0;
 
    virtual ErrorCode SelectProfileSlot(int slotIdx, int pidIdx) = 0;
 
    virtual double GetClosedLoopTarget(int pidIdx = 0) = 0;
    virtual double GetActiveTrajectoryPosition(int pidIdx = 0) = 0;
    virtual double GetActiveTrajectoryVelocity(int pidIdx = 0) = 0;
    virtual double GetActiveTrajectoryArbFeedFwd(int pidIdx = 0) = 0;
 
    //------ Motion Profile Settings used in Motion Magic  ----------//
    virtual ErrorCode ConfigMotionCruiseVelocity(double sensorUnitsPer100ms,
            int timeoutMs = 0) = 0;
    virtual ErrorCode ConfigMotionAcceleration(double sensorUnitsPer100msPerSec,
            int timeoutMs = 0) = 0;
 
    virtual ErrorCode ConfigMotionSCurveStrength(int curveStrength, int timeoutMs) = 0;
    //------ Motion Profile Buffer ----------//
    virtual ErrorCode ClearMotionProfileTrajectories()= 0;
    virtual int GetMotionProfileTopLevelBufferCount()= 0;
    virtual ErrorCode PushMotionProfileTrajectory(
            const ctre::phoenix::motion::TrajectoryPoint & trajPt)= 0;
    virtual bool IsMotionProfileTopLevelBufferFull()= 0;
    virtual void ProcessMotionProfileBuffer()= 0;
    virtual ErrorCode GetMotionProfileStatus(
            ctre::phoenix::motion::MotionProfileStatus & statusToFill)= 0;
    virtual ErrorCode ClearMotionProfileHasUnderrun(int timeoutMs = 0)= 0;
    virtual ErrorCode ChangeMotionControlFramePeriod(int periodMs)= 0;
    virtual ErrorCode ConfigMotionProfileTrajectoryPeriod(int baseTrajDurationMs, int timeoutMs = 0)=0;
    
    //------Feedback Device Interaction Settings---------//
    virtual ErrorCode ConfigFeedbackNotContinuous(bool feedbackNotContinuous, int timeoutMs = 0) = 0;
    virtual ErrorCode ConfigRemoteSensorClosedLoopDisableNeutralOnLOS(bool remoteSensorClosedLoopDisableNeutralOnLOS, int timeoutMs = 0) = 0;
    virtual ErrorCode ConfigClearPositionOnLimitF(bool clearPositionOnLimitF, int timeoutMs = 0) = 0;
    virtual ErrorCode ConfigClearPositionOnLimitR(bool clearPositionOnLimitR, int timeoutMs = 0) = 0;
    virtual ErrorCode ConfigClearPositionOnQuadIdx(bool clearPositionOnQuadIdx, int timeoutMs = 0) = 0;
    virtual ErrorCode ConfigLimitSwitchDisableNeutralOnLOS(bool limitSwitchDisableNeutralOnLOS, int timeoutMs = 0) = 0;
    virtual ErrorCode ConfigSoftLimitDisableNeutralOnLOS(bool softLimitDisableNeutralOnLOS, int timeoutMs = 0) = 0;
    virtual ErrorCode ConfigPulseWidthPeriod_EdgesPerRot(int pulseWidthPeriod_EdgesPerRot, int timeoutMs = 0) = 0;
    virtual ErrorCode ConfigPulseWidthPeriod_FilterWindowSz(int pulseWidthPeriod_FilterWindowSz, int timeoutMs = 0) = 0;
    
    //------ error ----------//
    virtual ErrorCode GetLastError() = 0;
 
    //------ Faults ----------//
    virtual ErrorCode GetFaults(Faults & toFill) = 0;
    virtual ErrorCode GetStickyFaults(StickyFaults & toFill) = 0;
    virtual ErrorCode ClearStickyFaults(int timeoutMs = 0) = 0;
 
    //------ Firmware ----------//
    virtual int GetFirmwareVersion() = 0;
    virtual bool HasResetOccurred() = 0;
 
    //------ Custom Persistent Params ----------//
    virtual ErrorCode ConfigSetCustomParam(int newValue, int paramIndex,
            int timeoutMs = 0) = 0;
    virtual int ConfigGetCustomParam(int paramIndex, int timeoutMs = 0) = 0;
 
    //------ Generic Param API, typically not used ----------//
    virtual ErrorCode ConfigSetParameter(ParamEnum param, double value,
            uint8_t subValue, int ordinal, int timeoutMs = 0) = 0;
    virtual double ConfigGetParameter(ParamEnum paramEnum, int ordinal,
            int timeoutMs = 0) = 0;
 
    //------ Misc. ----------//
    virtual int GetBaseID() = 0;
    virtual int GetDeviceID() = 0;
    virtual ControlMode GetControlMode() = 0;
 
    // ----- Follower ------//
    /* in parent interface */
};
 
}
} // namespace phoenix
}