cancoder_config.h

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#pragma once
 
#include <units/time.h>
 
#include "compile_time_member_check.h"
#include "ctre/Phoenix.h"
 
namespace argos_lib {
  namespace cancoder_config {
 
    HAS_MEMBER(direction)
    HAS_MEMBER(initMode)
    HAS_MEMBER(magOffset)
    HAS_MEMBER(range)
 
    template <typename T>
    bool CanCoderConfig(CANCoder& encoder, units::millisecond_t configTimeout) {
      ctre::phoenix::sensors::CANCoderConfiguration config;
      auto timeout = configTimeout.to<int>();
 
      if constexpr (has_direction<T>{}) {
        config.sensorDirection = T::direction;
      }
      if constexpr (has_initMode<T>{}) {
        config.initializationStrategy = T::initMode;
      }
      if constexpr (has_range<T>{}) {
        config.absoluteSensorRange = T::range;
      }
      if constexpr (has_magOffset<T>{}) {
        config.magnetOffsetDegrees = T::magOffset;
      }
 
      encoder.ConfigFactoryDefault(timeout);
      return ErrorCode::OKAY == encoder.ConfigAllSettings(config, timeout);
    }
 
    template <typename CompetitionConfig, typename PracticeConfig>
    bool CanCoderConfig(CANCoder& encoder, units::millisecond_t configTimeout, argos_lib::RobotInstance instance) {
      switch (instance) {
        case argos_lib::RobotInstance::Competition:
          return CanCoderConfig<CompetitionConfig>(encoder, configTimeout);
          break;
        case argos_lib::RobotInstance::Practice:
          return CanCoderConfig<PracticeConfig>(encoder, configTimeout);
          break;
      }
      return false;
    }
 
  }  // namespace cancoder_config
}  // namespace argos_lib