65 lines
1.8 KiB
C++
65 lines
1.8 KiB
C++
|
/*
|
||
|
|
* This Source Code Form is subject to the terms of the Mozilla Public
|
||
|
|
* License, v. 2.0. If a copy of the MPL was not distributed with this
|
||
|
|
* file, You can obtain one at http://mozilla.org/MPL/2.0/.
|
||
|
|
*/
|
||
|
|
#pragma once
|
||
|
|
|
||
|
|
#include "api.h"
|
||
|
|
#include "okapi/api/device/rotarysensor/continuousRotarySensor.hpp"
|
||
|
|
|
||
|
|
namespace okapi {
|
||
|
|
class RotationSensor : public ContinuousRotarySensor {
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* A rotation sensor in a V5 port.
|
||
|
|
*
|
||
|
|
* ```cpp
|
||
|
|
* auto r = RotationSensor(1);
|
||
|
|
* auto reversedR = RotationSensor(1, true);
|
||
|
|
* ```
|
||
|
|
*
|
||
|
|
* @param iport The V5 port the device uses.
|
||
|
|
* @param ireversed Whether the sensor is reversed. This will set the reversed state in the
|
||
|
|
* kernel.
|
||
|
|
*/
|
||
|
|
RotationSensor(std::uint8_t iport, bool ireversed = false);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Get the current rotation in degrees.
|
||
|
|
*
|
||
|
|
* @return The current rotation in degrees or ``PROS_ERR_F`` if the operation failed, setting
|
||
|
|
* ``errno``.
|
||
|
|
*/
|
||
|
|
double get() const override;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Reset the sensor to zero.
|
||
|
|
*
|
||
|
|
* @return ``1`` if the operation was successful or ``PROS_ERR`` if the operation failed, setting
|
||
|
|
* ``errno``.
|
||
|
|
*/
|
||
|
|
std::int32_t reset() override;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Get the sensor value for use in a control loop. This method might be automatically called in
|
||
|
|
* another thread by the controller.
|
||
|
|
*
|
||
|
|
* @return The same as [get](@ref okapi::RotationSensor::get).
|
||
|
|
*/
|
||
|
|
double controllerGet() override;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Get the current rotational velocity estimate in degrees per second.
|
||
|
|
*
|
||
|
|
* @return The current rotational velocity estimate in degrees per second or ``PROS_ERR_F`` if the
|
||
|
|
* operation failed, setting ``errno``.
|
||
|
|
*/
|
||
|
|
double getVelocity() const;
|
||
|
|
|
||
|
|
protected:
|
||
|
|
std::uint8_t port;
|
||
|
|
std::int8_t reversed{1};
|
||
|
|
};
|
||
|
|
} // namespace okapi
|