XRPServo.hpp

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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
#pragma once
 
#include <map>
#include <set>
#include <string>
 
#include "wpi/hal/SimDevice.hpp"
#include "wpi/units/angle.hpp"
 
namespace wpi::xrp {
 
/**
 * @ingroup xrp_api
 * @{
 */
 
/**
 * XRPServo.
 *
 * <p>A SimDevice based servo
 */
class XRPServo {
 public:
  /**
   * Constructs an XRPServo.
   *
   * @param deviceNum the servo channel
   */
  explicit XRPServo(int deviceNum);
 
  /**
   * Set the servo angle.
   *
   * @param angle Desired angle in radians
   */
  void SetAngle(wpi::units::radian_t angle);
 
  /**
   * Get the servo angle.
   *
   * @return Current servo angle in radians
   */
  wpi::units::radian_t GetAngle() const;
 
  /**
   * Set the servo position.
   *
   * @param position Desired position (Between 0.0 and 1.0)
   * @deprecated Use SetAngle() instead
   */
  [[deprecated("Use SetAngle() instead")]]
  void SetPosition(double position);
 
  /**
   * Get the servo position.
   *
   * @return Current servo position
   * @deprecated Use GetAngle() instead
   */
  [[deprecated("Use GetAngle() instead")]]
  double GetPosition() const;
 
 private:
  hal::SimDevice m_simDevice;
  hal::SimDouble m_simPosition;
 
  std::string m_deviceName;
 
  static std::map<int, std::string> s_simDeviceMap;
  static std::set<int> s_registeredDevices;
 
  static void CheckDeviceAllocation(int deviceNum);
};
 
/** @} */
 
}  // namespace wpi::xrp