57 lines
1.6 KiB
C++
57 lines
1.6 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 "api.h"
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#include "okapi/api/device/rotarysensor/continuousRotarySensor.hpp"
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#include "okapi/impl/device/motor/motor.hpp"
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namespace okapi {
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class IntegratedEncoder : public ContinuousRotarySensor {
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public:
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/**
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* Integrated motor encoder. Uses the encoder inside the V5 motor.
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*
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* @param imotor The motor to use the encoder from.
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*/
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IntegratedEncoder(const okapi::Motor &imotor);
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/**
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* Integrated motor encoder. Uses the encoder inside the V5 motor.
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*
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* @param iport The motor's port number in the range [1, 21].
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* @param ireversed Whether the encoder is reversed.
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*/
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IntegratedEncoder(std::int8_t iport, 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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std::uint8_t port;
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std::int8_t reversed{1};
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};
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} // namespace okapi
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