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/*
* Copyright (c) 2018-2025 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 <atomic>
#include "SparkBase.h"
#include "rev/ConfigureTypes.h"
#include "rev/SparkMaxAlternateEncoder.h"
#include "rev/config/SparkMaxConfigAccessor.h"
namespace rev::spark {
class SparkMax : public SparkBase {
friend class SparkMaxAlternateEncoder;
public:
/**
* Accessor for SPARK parameter values. This object contains fields and
* methods to retrieve parameters that have been applied to the device. To
* set parameters, see SparkBaseConfig and SparkBase::Configure.
*
* NOTE: This uses calls that are blocking to retrieve parameters and should
* be used infrequently.
*/
SparkMaxConfigAccessor configAccessor;
/**
* Create a new object to control a SPARK MAX motor Controller
*
* @param deviceID The device ID.
* @param type The motor type connected to the controller. Brushless
* motor wires must be connected to their matching colors,
* and the hall sensor must be plugged in. Brushed motors must be connected
* to the Red and Black terminals only.
*/
explicit SparkMax(int deviceID, MotorType type);
/**
* Closes the SPARK MAX Controller
*/
~SparkMax() override = default;
/*
* @deprecated Use {@link #Configure(SparkBaseConfig&, rev::ResetMode,
* rev::PersistMode)} instead. This method will be removed in 2027.
*/
[[deprecated(
"Use Configure(SparkBaseConfig&, rev::ResetMode, rev::PersistMode) "
"instead. This method will be removed in 2027.")]]
REVLibError Configure(SparkBaseConfig& config, ResetMode resetMode,
PersistMode persistMode) override;
REVLibError Configure(SparkBaseConfig& config, rev::ResetMode resetMode,
rev::PersistMode persistMode) override;
/**
* Returns an object for interfacing with a quadrature encoder connected to
* the alternate encoder mode data port pins. These are defined as:
*
* Pin 4 (Forward Limit Switch): Index
* Pin 6 (Multi-function): Encoder A
* Pin 8 (Reverse Limit Switch): Encoder B
*
* This call will disable support for the limit switch inputs.
*/
SparkMaxAlternateEncoder& GetAlternateEncoder();
SparkAbsoluteEncoder& GetAbsoluteEncoder() override;
SparkLimitSwitch& GetForwardLimitSwitch() override;
SparkLimitSwitch& GetReverseLimitSwitch() override;
private:
SparkMaxAlternateEncoder m_AltEncoder;
char m_altEncoderCreated{false};
void CheckDataPortAlternateEncoder();
void CheckDataPortAbsoluteEncoder();
void CheckDataPortLimitSwitch();
};
} // namespace rev::spark