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include/okapi/impl/device/motor/adiMotor.hpp

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+/*
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+#pragma once
+
+#include "api.h"
+#include "okapi/api/control/controllerOutput.hpp"
+#include "okapi/api/util/logging.hpp"
+
+namespace okapi {
+class ADIMotor : public ControllerOutput<double> {
+  public:
+  /**
+   * A motor in an ADI port.
+   *
+   * ```cpp
+   * auto mtr = ADIMotor('A');
+   * auto reversedMtr = ADIMotor('A', true);
+   * ```
+   *
+   * @param iport The ADI port number (``[1, 8]``, ``[a, h]``, ``[A, H]``).
+   * @param ireverse Whether the motor is reversed.
+   * @param logger The logger that initialization warnings will be logged to.
+   */
+  ADIMotor(std::uint8_t iport,
+           bool ireverse = false,
+           const std::shared_ptr<Logger> &logger = Logger::getDefaultLogger());
+
+  /**
+   * A motor in an ADI port.
+   *
+   * ```cpp
+   * auto mtr = ADIMotor({1, 'A'}, false);
+   * auto reversedMtr = ADIMotor({1, 'A'}, true);
+   * ```
+   *
+   * @param iports The ports the motor is plugged in to in the order ``{smart port, motor port}``.
+   * The smart port is the smart port number (``[1, 21]``). The motor port is the ADI port number
+   * (``[1, 8]``, ``[a, h]``, ``[A, H]``).
+   * @param ireverse Whether the motor is reversed.
+   * @param logger The logger that initialization warnings will be logged to.
+   */
+  ADIMotor(std::pair<std::uint8_t, std::uint8_t> iports,
+           bool ireverse = false,
+           const std::shared_ptr<Logger> &logger = Logger::getDefaultLogger());
+
+  /**
+   * Set the voltage to the motor.
+   *
+   * @param ivoltage voltage in the range [-127, 127].
+   */
+  virtual void moveVoltage(std::int8_t ivoltage) const;
+
+  /**
+   * Writes the value of the controller output. This method might be automatically called in another
+   * thread by the controller. The range of input values is expected to be [-1, 1].
+   *
+   * @param ivalue the controller's output in the range [-1, 1]
+   */
+  void controllerSet(double ivalue) override;
+
+  protected:
+  std::uint8_t smartPort;
+  std::uint8_t port;
+  std::int8_t reversed;
+};
+} // namespace okapi