cancoder_config.h

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#pragma once
 
#include <units/time.h>
 
#include <ctre/phoenix6/CANcoder.hpp>
 
#include "compile_time_member_check.h"
 
namespace argos_lib {
  namespace cancoder_config {
    using CANcoder = ctre::phoenix6::hardware::CANcoder;
 
    HAS_MEMBER(direction)
    HAS_MEMBER(magOffset)
    HAS_MEMBER(absoluteSensorDiscontinuityPoint)
 
    template <typename T>
    bool CanCoderConfig(CANcoder& encoder, units::millisecond_t configTimeout) {
      ctre::phoenix6::configs::CANcoderConfiguration config;
      encoder.GetConfigurator().Refresh(config.MagnetSensor, configTimeout);
 
      if constexpr (has_direction<T>{}) {
        config.MagnetSensor.SensorDirection = T::direction;
      }
      if constexpr (has_absoluteSensorDiscontinuityPoint<T>{}) {
        config.MagnetSensor.AbsoluteSensorDiscontinuityPoint = T::absoluteSensorDiscontinuityPoint;
      }
      if constexpr (has_magOffset<T>{}) {
        config.MagnetSensor.WithMagnetOffset = T::magOffset;
      }
 
      return ctre::phoenix::StatusCode::OK == encoder.GetConfigurator().Apply(config, configTimeout);
    }
 
    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