58 lines
1.6 KiB
C++
58 lines
1.6 KiB
C++
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/*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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#pragma once
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#include "api.h"
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#include "okapi/api/device/rotarysensor/rotarySensor.hpp"
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namespace okapi {
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class Potentiometer : public RotarySensor {
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public:
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/**
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* A potentiometer in an ADI port.
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*
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* ```cpp
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* auto pot = Potentiometer('A');
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* ```
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*
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* @param iport The ADI port number (``[1, 8]``, ``[a, h]``, ``[A, H]``).
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*/
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Potentiometer(std::uint8_t iport);
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/**
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* A potentiometer in an ADI port.
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*
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* ```cpp
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* auto pot = Potentiometer({1, 'A'});
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* ```
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*
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* @param iports The ports the potentiometer is plugged in to in the order ``{smart port,
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* potentiometer port}``. The smart port is the smart port number (``[1, 21]``). The potentiometer
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* port is the ADI port number (``[1, 8]``, ``[a, h]``, ``[A, H]``).
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*/
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Potentiometer(std::pair<std::uint8_t, std::uint8_t> iports);
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/**
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* Get the current sensor value.
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*
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* @return the current sensor value, or ``PROS_ERR`` on a failure.
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*/
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virtual double get() const override;
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/**
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* Get the sensor value for use in a control loop. This method might be automatically called in
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* another thread by the controller.
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*
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* @return the current sensor value, or ``PROS_ERR`` on a failure.
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*/
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virtual double controllerGet() override;
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protected:
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std::uint8_t smartPort;
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std::uint8_t port;
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};
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} // namespace okapi
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