robot-rust 0.2.1

The robot-rust project, bindings for wpilib, ctre, and rev in rust.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131

/*
 * 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/AbsoluteEncoderConfigAccessor.h"
#include "rev/config/AnalogSensorConfigAccessor.h"
#include "rev/config/ClosedLoopConfigAccessor.h"
#include "rev/config/EncoderConfigAccessor.h"
#include "rev/config/LimitSwitchConfigAccessor.h"
#include "rev/config/SignalsConfigAccessor.h"
#include "rev/config/SoftLimitConfigAccessor.h"
#include "rev/config/SparkBaseConfig.h"

namespace rev::spark {

class SparkBaseConfigAccessor {
protected:
    explicit SparkBaseConfigAccessor(void* sparkHandle);

private:
    void* m_sparkHandle;

public:
    /**
     * Accessor for parameters relating to the absolute encoder. To configure
     * these values, use AbsoluteEncoderConfig and call SparkBase::Configure.
     *
     * <p>NOTE: This uses calls that are blocking to retrieve parameters and
     * should be used infrequently.
     */
    AbsoluteEncoderConfigAccessor absoluteEncoder;

    /**
     * Accessor for parameters relating to the analog sensor. To configure
     * these values, use AnalogSensorConfig and call SparkBase::Configure.
     *
     * <p>NOTE: This uses calls that are blocking to retrieve parameters and
     * should be used infrequently.
     */
    AnalogSensorConfigAccessor analogSensor;

    /**
     * Accessor for parameters relating to the closed loop controller. To
     * configure these values, use ClosedLoopConfig and call
     * SparkBase::Configure.
     *
     * <p>NOTE: This uses calls that are blocking to retrieve parameters and
     * should be used infrequently.
     */
    ClosedLoopConfigAccessor closedLoop;

    /**
     * Accessor for parameters relating to the primary encoder. To configure
     * these values, use EncoderConfig and call SparkBase::Configure.
     *
     * <p>NOTE: This uses calls that are blocking to retrieve parameters and
     * should be used infrequently.
     */
    EncoderConfigAccessor encoder;

    /**
     * Accessor for parameters relating to the hardware limit switches. To
     * configure these values, use LimitSwitchConfig and call
     * SparkBase::Configure.
     *
     * <p>NOTE: This uses calls that are blocking to retrieve parameters and
     * should be used infrequently.
     */
    LimitSwitchConfigAccessor limitSwitch;

    /**
     * Accessor for parameters relating to status signals. To configure
     * these values, use SignalsConfig and call SparkBase::Configure.
     *
     * <p>NOTE: This uses calls that are blocking to retrieve parameters and
     * should be used infrequently.
     */
    SignalsConfigAccessor signals;

    /**
     * Accessor for parameters relating to the software limits. To configure
     * these values, use SoftLimitConfig and call SparkBase::Configure.
     *
     * <p>NOTE: This uses calls that are blocking to retrieve parameters and
     * should be used infrequently.
     */
    SoftLimitConfigAccessor softLimit;

    SparkBaseConfig::IdleMode GetIdleMode();
    bool GetInverted();
    int GetSmartCurrentLimit();
    int GetSmartCurrentFreeLimit();
    int GetSmartCurrentRPMLimit();
    double GetSecondaryCurrentLimit();
    int GetSecondaryCurrentLimitChopCycles();
    double GetAdvanceCommutation();
    double GetOpenLoopRampRate();
    double GetClosedLoopRampRate();
    double GetVoltageCompensation();
    bool GetVoltageCompensationEnabled();
    int GetFollowerModeLeaderId();
    bool GetFollowerModeInverted();
};  // class SparkBaseConfigAccessor

}  // namespace rev::spark