SensorCollection.h

#pragma once
 
#include "ctre/phoenix/ErrorCode.h"
 
/* forward proto's */
namespace ctre {
    namespace phoenix {
        namespace motorcontrol {
            namespace can {
                class BaseTalon;
            }
        }
    }
}
 
namespace ctre {
    namespace phoenix {
        namespace motorcontrol {
 
            class SensorCollection {
            public:
                SensorCollection(ctre::phoenix::motorcontrol::can::BaseTalon& motorController);
 
                int GetAnalogIn();
 
                ErrorCode SetAnalogPosition(int newPosition, int timeoutMs = 0);
 
                int GetAnalogInRaw();
 
                int GetAnalogInVel();
 
                int GetQuadraturePosition();
 
                ErrorCode SetQuadraturePosition(int newPosition, int timeoutMs = 0);
 
                ErrorCode SyncQuadratureWithPulseWidth(int bookend0, int bookend1, bool bCrossZeroOnInterval, int offset = 0, int timeoutMs = 0);
 
                int GetQuadratureVelocity();
 
                int GetPulseWidthPosition();
 
                ErrorCode SetPulseWidthPosition(int newPosition, int timeoutMs = 0);
 
                int GetPulseWidthVelocity();
 
                int GetPulseWidthRiseToFallUs();
 
                int GetPulseWidthRiseToRiseUs();
 
                int GetPinStateQuadA();
 
                int GetPinStateQuadB();
 
                int GetPinStateQuadIdx();
 
                int IsFwdLimitSwitchClosed();
 
                int IsRevLimitSwitchClosed();
 
            private:
                SensorCollection(void* handle);
                friend class ctre::phoenix::motorcontrol::can::BaseTalon;
                void* _handle;
 
            };
 
        } // namespace motorcontrol
    } // namespace phoenix
} // namespace ctre