Navx.h

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#pragma once
#include <stdint.h>
#include <frc/geometry/Quaternion.h>
#include <frc/geometry/Rotation2d.h>
#include <frc/geometry/Rotation3d.h>
#include <units/angular_velocity.h>
#include <units/acceleration.h>
#include <units/angle.h>
#include <units/temperature.h>
#include <units/magnetic_field_strength.h>
 
namespace studica
{
    class Navx;
}

class studica::Navx
{
    public:

        enum class Port : int {
            kUSB1 = 2,
            kUSB2 = 3
        };

        explicit Navx(int deviceId);

        explicit Navx(Port port);

        Navx(int deviceId, int updateRate);

        Navx(Port port, int updateRate);
        Navx(Navx&&) = default;
        Navx& operator=(Navx&&) = default;

        ~Navx();

        units::degree_t GetYaw();

        units::degree_t GetPitch();

        units::degree_t GetRoll();

        units::degree_t GetAngle();

        bool GetAlgoStates(float states[9]);

        bool EnableOptionalMessages(bool yaw, bool angle, bool quat6d, bool quat9d, bool algoStates, bool pitchRoll,
                                   bool angularVel, bool linearAccel, bool compass, bool temperature);

        bool GetQuat6D(frc::Quaternion& quat);

        bool GetQuat9D(frc::Quaternion& quat);

        bool GetRotation2D(frc::Rotation2d& rotation);

        bool GetRotation3D(frc::Rotation3d& rotation);

        bool GetAngularVel(units::degrees_per_second_t& x,
                          units::degrees_per_second_t& y,
                          units::degrees_per_second_t& z);

        bool GetLinearAccel(units::meters_per_second_squared_t& x,
                           units::meters_per_second_squared_t& y,
                           units::meters_per_second_squared_t& z);

        bool GetCompass(units::tesla_t& x,
                       units::tesla_t& y,
                       units::tesla_t& z,
                       units::tesla_t& norm);

        bool SelfTest(int ret[8]);

        bool ResetYaw();

        bool SetODRHz(uint16_t odr_hz);

        bool GetSensorUUID(int uuid[3]);

        units::celsius_t GetTemperature();

        bool Enable9DYaw(bool enable);
 
};