Refactored everything.

include/okapi/api/device/rotarysensor/continuousRotarySensor.hpp

@@ -0,0 +1,20 @@
+/*
+ * 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 "okapi/api/device/rotarysensor/rotarySensor.hpp"
+
+namespace okapi {
+class ContinuousRotarySensor : public RotarySensor {
+  public:
+  /**
+   * Reset the sensor to zero.
+   *
+   * @return `1` on success, `PROS_ERR` on fail
+   */
+  virtual std::int32_t reset() = 0;
+};
+} // namespace okapi

include/okapi/api/device/rotarysensor/rotarySensor.hpp

@@ -0,0 +1,23 @@
+/*
+ * 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 "okapi/api/control/controllerInput.hpp"
+#include "okapi/api/coreProsAPI.hpp"
+
+namespace okapi {
+class RotarySensor : public ControllerInput<double> {
+  public:
+  virtual ~RotarySensor();
+
+  /**
+   * Get the current sensor value.
+   *
+   * @return the current sensor value, or `PROS_ERR` on a failure.
+   */
+  virtual double get() const = 0;
+};
+} // namespace okapi