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/*
* Copyright (c) 2025-2026 REV Robotics
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. Neither the name of REV Robotics nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#pragma once
#include <stdint.h>
#include "rev/ConfigureTypes.h"
#include "rev/DetachedEncoderLowLevel.h"
#include "rev/REVLibError.h"
#include "rev/RelativeEncoder.h"
#include "rev/config/DetachedEncoderConfigAccessor.h"
namespace rev::detached {
class DetachedEncoderConfig;
class DetachedEncoder : public RelativeEncoder, public DetachedEncoderLowLevel {
public:
/**
* Accessor for Detached encoder parameter values. This object contains
* fields and methods to retrieve parameters that have been applied to the
* device. To set parameters, see DetachedEncoderConfig and
* DetachedEncoder::Configure().
*
* NOTE: This uses calls that are blocking to retrieve parameters and should
* be used infrequently.
*/
DetachedEncoderConfigAccessor configAccessor;
DetachedEncoder(DetachedEncoder&& rhs) = default;
DetachedEncoder& operator=(DetachedEncoder&& rhs) = default;
DetachedEncoder(const DetachedEncoder& rhs) = default;
/**
* Closes the Detached encoder controller
*/
~DetachedEncoder() override = default;
/**
* Get the position of the encoder. This returns the native units
* of 'rotations' by default, and can be changed by a scale factor
* using DetachedEncoderConfig::PositionConversionFactor().
*
* @return Number of rotations of the encoder
*
*/
double GetPosition() const override;
/**
* Get the velocity of the encoder. This returns the native units
* of 'RPM' by default, and can be changed by a scale factor
* using DetachedEncoderConfig::VelocityConversionFactor().
*
* @return Number the RPM of the encoder
*
*/
double GetVelocity() const override;
/**
* Get the absolute position of the encoder. This returns the native units
* of 'rotations' [0, 1) by default, and can be changed by a scale factor
* using DetachedEncoderConfig::PositionConversionFactor().
*
* @return Number of rotations of the encoder
*
*/
double GetAngle() const;
/**
* Get the absolute position of the encoder. This returns the native units
* of 'rotations' [0, 1) without scaling from conversion factors.
*
* @return Number of rotations of the encoder
*
*/
double GetRawAngle() const;
/**
* Set the position of the encoder.
*
* @param position Number of rotations of the encoder
*
* @return REVLibError::kOk if successful
*/
REVLibError SetPosition(double position) override;
/* ***** Extended Functions ****** */
/**
* Set the configuration for the Detached encoder.
*
* <p>If @c resetMode is ResetMode::kResetSafeParameters, this
* method will reset safe writable parameters to their default values before
* setting the given configuration. The following parameters will not be
* reset by this action: CAN ID and Absolute (Duty Cycle) Zero Offset.
*
* @param config The desired Detached encoder configuration
* @param resetMode Whether to reset safe parameters before setting the
* configuration
* @return REVLibError::kOk if successful
*/
REVLibError Configure(DetachedEncoderConfig& config,
rev::ResetMode resetMode);
struct Faults {
bool unexpected;
bool hasReset;
bool canTx;
bool canRx;
bool eeprom;
int rawBits;
};
/**
* Get the active faults that are currently present on the detached encoder.
*
* @return A struct with each fault and their active value
*/
Faults GetFaults() const;
/**
* Get the sticky faults that were present on the detached encoder at one
* point since the sticky faults were last cleared.
*
* <p>Sticky faults can be cleared with DetachedEncoder::ClearFaults().
*
* @return A struct with each fault and their sticky value
*/
Faults GetStickyFaults() const;
/**
* Clears all sticky faults.
*/
REVLibError ClearFaults();
protected:
/**
* Create a new object to control a Detached Encoder
*
* @param deviceID The device ID.
* @param model The specific model of detached encoder
*/
DetachedEncoder(int deviceID, EncoderModel model);
};
} // namespace rev::detached