robot-rust 0.2.1

The robot-rust project, bindings for wpilib, ctre, and rev in rust.
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/*
 * Copyright (c) 2024-2025 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 "rev/config/BaseConfig.h"

namespace rev::spark {

class SoftLimitConfig : public BaseConfig {
public:
    SoftLimitConfig() = default;
    ~SoftLimitConfig() override = default;

    SoftLimitConfig(const SoftLimitConfig&) = default;
    SoftLimitConfig& operator=(const SoftLimitConfig&) = delete;
    SoftLimitConfig(SoftLimitConfig&&) noexcept = delete;
    SoftLimitConfig& operator=(SoftLimitConfig&&) noexcept = delete;

    /**
     * Applies settings from another SoftLimitConfig to this one.
     *
     * <p>Settings in the provided config will overwrite existing values in this
     * object. Settings not specified in the provided config remain unchanged.
     *
     * @param config The SoftLimitConfig to copy settings from
     * @return The updated SoftLimitConfig for method chaining
     */
    SoftLimitConfig& Apply(SoftLimitConfig& config);

    /**
     * Set the forward soft limit based on the position of the selected feedback
     * sensor. This will disable motor actuation in the forward direction past
     * this position. This value should have the position conversion factor
     * applied to it.
     *
     * @param limit The forward soft limit position with the conversion factor
     * applied
     * @return The modified SoftLimitConfig object for method chaining
     */
    SoftLimitConfig& ForwardSoftLimit(double limit);

    /**
     * Set whether to enable or disable the forward soft limit.
     *
     * @param enabled True to enable the forward soft limit
     * @return The modified SoftLimitConfig object for method chaining
     */
    SoftLimitConfig& ForwardSoftLimitEnabled(bool enabled);

    /**
     * Set the reverse soft limit based on the position of the selected feedback
     * sensor. This will disable motor actuation in the reverse direction past
     * this position. This value should have the position conversion factor
     * applied to it.
     *
     * @param limit The reverse soft limit position with the conversion factor
     * applied
     * @return The modified SoftLimitConfig object for method chaining
     */
    SoftLimitConfig& ReverseSoftLimit(double limit);

    /**
     * Set whether to enable or disable the reverse soft limit.
     *
     * @param enabled True to enable the reverse soft limit
     * @return The modified SoftLimitConfig object for method chaining
     */
    SoftLimitConfig& ReverseSoftLimitEnabled(bool enabled);
};  // class SoftLimitConfig

}  // namespace rev::spark