IMotorControllerEnhanced.h

#pragma once
 
#include "ctre/phoenix/motorcontrol/ControlMode.h"
#include "ctre/phoenix/motorcontrol/ControlFrame.h"
#include "ctre/phoenix/motorcontrol/IMotorController.h"
#include "ctre/phoenix/motorcontrol/IFollower.h"
#include "ctre/phoenix/motorcontrol/NeutralMode.h"
#include "ctre/phoenix/motorcontrol/FeedbackDevice.h"
#include "ctre/phoenix/motorcontrol/SensorCollection.h"
#include "ctre/phoenix/motorcontrol/SupplyCurrentLimitConfiguration.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/motorcontrol/VelocityMeasPeriod.h"
#include "ctre/phoenix/paramEnum.h"
#include "ctre/phoenix/motion/TrajectoryPoint.h"
#include "ctre/phoenix/motion/MotionProfileStatus.h"
#include "ctre/phoenix/ErrorCode.h"
 
namespace ctre {
namespace phoenix {
namespace motorcontrol {
 
class IMotorControllerEnhanced: public virtual IMotorController {
public:
    virtual ~IMotorControllerEnhanced() {
    }
 
    //------ Set output routines. ----------//
    /* in parent */
 
    //------ Invert behavior ----------//
    /* in parent */
 
    //----- Factory Default Configuration -----//
    /* in parent */
 
    //----- general output shaping ------------------//
    /* in parent */
 
    //------ Voltage Compensation ----------//
    /* in parent */
 
    //------ General Status ----------//
    /* in parent */
 
    //------ sensor selection ----------//
    /* expand the options */
    virtual ErrorCode ConfigSelectedFeedbackSensor(
            FeedbackDevice feedbackDevice, int pidIdx = 0, int timeoutMs = 0) = 0;
    virtual ErrorCode ConfigSelectedFeedbackSensor(
            RemoteFeedbackDevice feedbackDevice, int pidIdx = 0, int timeoutMs = 0) = 0;
 
    //------ Current Limit ----------//
    virtual ErrorCode ConfigSupplyCurrentLimit(const SupplyCurrentLimitConfiguration& currLimitConfigs, int timeoutMs = 50) = 0;
 
    //------- sensor status --------- //
    /* in parent */
 
    //------ status frame period changes ----------//
    virtual ErrorCode SetStatusFramePeriod(StatusFrame frame, uint8_t periodMs,
            int timeoutMs = 0) = 0;
    virtual ErrorCode SetStatusFramePeriod(StatusFrameEnhanced frame,
            uint8_t periodMs, int timeoutMs = 0) = 0;
    virtual int GetStatusFramePeriod(StatusFrame frame, int timeoutMs = 0) = 0;
    virtual int GetStatusFramePeriod(StatusFrameEnhanced frame, int timeoutMs = 0) = 0;
 
    //------ General Status ----------//
    virtual double GetOutputCurrent() = 0;
 
    //----- velocity signal conditionaing ------//
    virtual ErrorCode ConfigVelocityMeasurementPeriod(VelocityMeasPeriod period,
            int timeoutMs = 0)= 0;
    virtual ErrorCode ConfigVelocityMeasurementWindow(int windowSize,
            int timeoutMs = 0)= 0;
 
    //------ 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;
 
    //------ local limit switch ----------//
    virtual ErrorCode ConfigForwardLimitSwitchSource(LimitSwitchSource type,
            LimitSwitchNormal normalOpenOrClose, int timeoutMs = 0)= 0;
    virtual ErrorCode ConfigReverseLimitSwitchSource(LimitSwitchSource type,
            LimitSwitchNormal normalOpenOrClose, int timeoutMs = 0)= 0;
 
    //------ soft limit ----------//
    /* in parent */
 
    //------ General Close loop ----------//
    /* in parent */
 
    //------ Motion Profile Settings used in Motion Magic and Motion Profile ----------//
    /* in parent */
 
    //------ Motion Profile Buffer ----------//
    /* in parent */
 
    //------ error ----------//
    /* in parent */
 
    //------ Faults ----------//
    /* in parent */
 
    //------ Firmware ----------//
    /* in parent */
 
    //------ Custom Persistent Params ----------//
    /* in parent */
 
    //------ Generic Param API, typically not used ----------//
    /* in parent */
 
    //------ Misc. ----------//
    /* in parent */
 
}; // class IMotorControllerEnhanced
} // namespace motorcontrol
} // namespace phoenix
} // namespace ctre