CANVenom.h

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#pragma once
 
#include "frc/MotorSafety.h"
#include "frc/motorcontrol/MotorController.h"
#include "wpi/sendable/Sendable.h"
#include "wpi/sendable/SendableHelper.h"
#include "wpi/sendable/SendableBuilder.h"
#include "CANVenomApi.h"
 
namespace frc {
class CANVenomImpl;
 
class CANVenom : public MotorSafety, public MotorController, public wpi::Sendable, public wpi::SendableHelper<CANVenom> {
  public:
    enum ControlMode {
        kDisabled = 0,
 
        kProportional = 1,
 
        kCurrentControl = 3,
    
        kSpeedControl = 4,
 
        kPositionControl = 5,
 
        kMotionProfile = 6,
 
        kFollowTheLeader = 7,
 
        kVoltageControl = 8
    };
 
    enum BrakeCoastMode {
        kCoast = 0,
 
        kBrake = 1
    };
 
    enum FaultFlag {
        kNone = 0,
 
        kNoHeartbeat = 1,
 
        kNoLeaderHeartbeat = 2,
 
        kBadLeaderID = 4,
 
        kHighTemperature = 8,
 
        kHighCurrent = 16,
 
        kBadMode = 32,
 
        kDuplicateID = 64,
 
        kForwardLimit = 128,
 
        kReverseLimit = 256,
 
        kReset = 512
    };
 
 
    enum MotionProfileState {
        kInit = 0,
 
        kRunning = 1,
 
        kErrBufferCleared = 2,
 
        kErrBufferUnderflow = 3,
 
        kErrBufferInvalid = 4,
 
        kDone = 5
    };
 
 
    explicit CANVenom(uint8_t motorID);
    virtual ~CANVenom();
 
    // Delete Copy constructor and assignment operator
    CANVenom(const CANVenom&) =delete;
    CANVenom& operator=(const CANVenom&) =delete;
 
    // Use default Move constructor and assignment operator
    CANVenom(CANVenom&&) =default;
    CANVenom& operator=(CANVenom&&) =default;
 
 
    virtual void StopMotor() override;
 
 
    virtual std::string GetDescription() const override;
 
 
    virtual void Set(double command) override;
 
 
    virtual double Get() const override;
 
 
    virtual void SetInverted(bool isInverted) override;
 
 
    virtual bool GetInverted() const override;
 
 
    virtual void Disable() override;
    
    
    void Enable();
 
 
    virtual void PIDWrite(double output);
 
    
    virtual void InitSendable (wpi::SendableBuilder &builder) override;
 
 
    void SetCommand(ControlMode mode, double command);
 
 
    void SetCommand(ControlMode mode, double command, double kF, double b);
  
 
    void Follow(CANVenom &leadVenom);
 
 
    bool GetFwdLimitSwitchActive() const;
    
 
    bool GetRevLimitSwitchActive() const;
    
    
    void EnableLimitSwitches(bool fwdLimitSwitchEnabled, bool revLimitSwitchEnabled);
 
 
    void IdentifyMotor();
 
 
    void ResetPosition();
 
    void SetPosition(double newPosition);
 
    uint16_t GetNumAvaliableMotionProfilePoints() const;
 
 
    uint16_t GetCurrentMotionProfilePoint() const;
 
 
    double GetMotionProfilePositionTarget() const;
 
 
    double GetMotionProfileSpeedTarget() const;
 
 
    bool GetMotionProfileIsValid() const;
 
    MotionProfileState GetMotionProfileState() const;
 
    void ClearMotionProfilePoints();
 
 
    void AddMotionProfilePoint(double time, double speed, double position);
 
 
    void CompleteMotionProfilePath(double time, double position);
 
 
    void ExecutePath();
 
 
    uint32_t GetFirmwareVersion() const;
 
 
    uint32_t GetSerialNumber() const;
 
 
    double GetBusVoltage() const;
 
 
    double GetOutputVoltage() const;
 
 
    double GetDutyCycle() const;
 
 
    double GetOutputCurrent() const;
 
 
    double GetTemperature() const;
 
 
    double GetAuxVoltage() const;
 
 
    double GetSpeed() const;
 
 
    double GetPosition() const;
 
 
    double GetPIDTarget() const;
 
 
    double GetKF() const;
 
 
    double GetB() const;
 
 
    double GetKP() const;
 
 
    double GetKI() const;
 
 
    double GetKD() const;
 
 
    double GetMinPILimit() const;
 
 
    double GetMaxPILimit() const;
 
 
    double GetMaxSpeed() const;
 
 
    double GetMaxAcceleration() const;
 
 
    double GetMaxJerk() const;
 
 
    ControlMode GetControlMode() const;
 
 
    ControlMode GetActiveControlMode() const;
 
 
    BrakeCoastMode GetBrakeCoastMode() const;
 
 
    FaultFlag GetActiveFaults() const;
 
    FaultFlag GetLatchedFaults() const;
    
    void ClearLatchedFaults();
 
    void SetPID(double kP, double kI, double kD, double kF, double b);
 
 
    void SetKF(double kF);
 
 
    void SetB(double b);
 
 
    void SetKP(double kP);
 
 
    void SetKI(double kI);
 
 
    void SetKD(double kD);
 
 
    void SetMinPILimit(double limit);
 
 
    void SetMaxPILimit(double limit);
 
 
    void SetMaxSpeed(double limit);
 
 
    void SetMaxAcceleration(double limit);
 
 
    void SetMaxJerk(double limit);
 
 
    void SetControlMode(ControlMode controlMode);
 
 
    void SetBrakeCoastMode(BrakeCoastMode brakeCoastMode);
 
 
  private: 
    CANVenom_t     *m_canVenomHandle;
    int m_motorID;
};
 
}