74 lines
2.5 KiB
C++
74 lines
2.5 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/continuousRotarySensor.hpp"
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namespace okapi {
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class ADIEncoder : public ContinuousRotarySensor {
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public:
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/**
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* An encoder in an ADI port.
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*
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* ```cpp
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* auto enc = ADIEncoder('A', 'B', false);
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* auto reversedEnc = ADIEncoder('A', 'B', true);
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* ```
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*
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* @param iportTop The "top" wire from the encoder with the removable cover side up. This must be
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* in port ``1``, ``3``, ``5``, or ``7`` (``A``, ``C``, ``E``, or ``G``).
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* @param iportBottom The "bottom" wire from the encoder. This must be in port ``2``, ``4``,
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* ``6``, or ``8`` (``B``, ``D``, ``F``, or ``H``).
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* @param ireversed Whether the encoder is reversed.
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*/
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ADIEncoder(std::uint8_t iportTop, std::uint8_t iportBottom, bool ireversed = false);
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/**
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* An encoder in an ADI port.
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*
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* ```cpp
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* auto enc = ADIEncoder({1, 'A', 'B'}, false);
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* auto reversedEnc = ADIEncoder({1, 'A', 'B'}, true);
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* ```
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*
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* @param iports The ports the encoder is plugged in to in the order ``{smart port, top port,
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* bottom port}``. The smart port is the smart port number (``[1, 21]``). The top port is the
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* "top" wire from the encoder with the removable cover side up. This must be in port ``1``,
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* ``3``, ``5``, or
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* ``7`` (``A``, ``C``, ``E``, or ``G``). The bottom port is the "bottom" wire from the encoder.
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* This must be in port ``2``, ``4``, ``6``, or ``8`` (``B``, ``D``, ``F``, or ``H``).
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* @param ireversed Whether the encoder is reversed.
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*/
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ADIEncoder(std::tuple<std::uint8_t, std::uint8_t, std::uint8_t> iports, bool ireversed = false);
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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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* Reset the sensor to zero.
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*
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* @return `1` on success, `PROS_ERR` on fail
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*/
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virtual std::int32_t reset() 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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pros::c::ext_adi_encoder_t enc;
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};
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} // namespace okapi
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