TitanQuad.h

#pragma once
 
#include <iostream>
#include <cstdint>
#include <frc/SpeedController.h>
 
namespace studica {
 class TitanQuad;
 class TitanQuadEncoder;
}
 
class studica::TitanQuad : public frc::SpeedController{
 
 private: 
 double speed;
 long handle;
 int motor;
 bool isInverted = false;
 bool stop;
 int frequency = 15600;
 friend class TitanQuadEncoder;
 
 public:
 
 TitanQuad(int deviceID, int frequency, int motor);
 TitanQuad(int deviceID, int motor);
 
 ~TitanQuad();
 
 int GetID();
 
 int GetFrequency();
 
 std::string GetFirmwareVersion();
 
 std::string GetHardwareVersion();
 
 // /**
 // * Configures the specified motor.
 // * @param motor - The motor to configure.
 // */
 // void configureMotor(int motor);
 
 // /**
 // * Disables the specified motor
 // * @param motor motor to be disabled
 // */
 // void DisableMotor();
 
 double GetCurrent();
 
 double GetControllerTemp();
 
 /**** Speed Controller Interface ****/
 
 void Set(double speed) override;
 
 double Get() const override;
 
 void SetInverted(bool isInverted) override;
 
 bool GetInverted() const override;
 
 void Disable() override;
 
 void StopMotor() override;
 
 void PIDWrite(double output) override;
 
 // /**
 // * Sets the speed of the specified motor.
 // * @param motor - The motor to control.
 // * @param speed - The speed to control the motor.
 // */
 // void SetMotorSpeed(int motor, double speed);
 
 void SetCurrentLimit();
 
 double GetLimitSwitch(bool direction);
 
 double GetRPM();
 
 int GetFaults();
 
 void ClearFaults();
 
 bool EnableSoftLimit();
 
 std::string GetSerialNumber();
};