42 lines
1.2 KiB
C++
42 lines
1.2 KiB
C++
/*
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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 "okapi/api/control/controllerInput.hpp"
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#include <memory>
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namespace okapi {
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class OffsetableControllerInput : public ControllerInput<double> {
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public:
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/**
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* A ControllerInput which can be tared to change the zero position.
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*
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* @param iinput The ControllerInput to reference.
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*/
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explicit OffsetableControllerInput(const std::shared_ptr<ControllerInput<double>> &iinput);
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virtual ~OffsetableControllerInput();
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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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double controllerGet() override;
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/**
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* Sets the "absolute" zero position of this controller input to its current position. This does
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* nothing if the underlying controller input returns PROS_ERR.
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*/
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virtual void tarePosition();
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protected:
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std::shared_ptr<ControllerInput<double>> input;
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double offset{0};
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};
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} // namespace okapi
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