58 lines
1.6 KiB
C++
58 lines
1.6 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/rotarySensor.hpp"
|
|
|
|
namespace okapi {
|
|
class Potentiometer : public RotarySensor {
|
|
public:
|
|
/**
|
|
* A potentiometer in an ADI port.
|
|
*
|
|
* ```cpp
|
|
* auto pot = Potentiometer('A');
|
|
* ```
|
|
*
|
|
* @param iport The ADI port number (``[1, 8]``, ``[a, h]``, ``[A, H]``).
|
|
*/
|
|
Potentiometer(std::uint8_t iport);
|
|
|
|
/**
|
|
* A potentiometer in an ADI port.
|
|
*
|
|
* ```cpp
|
|
* auto pot = Potentiometer({1, 'A'});
|
|
* ```
|
|
*
|
|
* @param iports The ports the potentiometer is plugged in to in the order ``{smart port,
|
|
* potentiometer port}``. The smart port is the smart port number (``[1, 21]``). The potentiometer
|
|
* port is the ADI port number (``[1, 8]``, ``[a, h]``, ``[A, H]``).
|
|
*/
|
|
Potentiometer(std::pair<std::uint8_t, std::uint8_t> iports);
|
|
|
|
/**
|
|
* Get the current sensor value.
|
|
*
|
|
* @return the current sensor value, or ``PROS_ERR`` on a failure.
|
|
*/
|
|
virtual double get() const 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 current sensor value, or ``PROS_ERR`` on a failure.
|
|
*/
|
|
virtual double controllerGet() override;
|
|
|
|
protected:
|
|
std::uint8_t smartPort;
|
|
std::uint8_t port;
|
|
};
|
|
} // namespace okapi
|