TitanSmall.h

#pragma once
 
#include <iostream>
#include <cstdint>
 
#include <frc/SpeedController.h>
 
namespace studica {
 class TitanSmall;
 class TitanSmallEncoder;
}
 
class studica::TitanSmall : public frc::SpeedController{
 
 private:
 double speed;
 bool isInverted = false;
 long handle;
 bool stop;
 int frequency = 15600;
 friend class TitanSmallEncoder;
 
 public:
 
 TitanSmall(int deviceID, int frequency);
 
 TitanSmall(int deviceID);
 
 ~TitanSmall();
 
 int GetID();
 
 int GetFrequency();
 
 std::string GetFirmwareVersion();
 
 std::string GetHardwareVersion();
 
 // void configureMotor();
 
 // void DisableMotor();
 
 /**** 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;
 
 double GetCurrent();
 
 void SetMotorSpeed(double speed);
 
 void SetCurrentLimit();
 
 double GetLimitSwitch(bool direction);
 
 int GetFaults();
 
 void ClearFaults();
 
 bool EnableSoftLimit();
 
 std::string GetSerialNumber();
};