adiEncoder.hpp

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/*
 * 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 ADIEncoder : public ContinuousRotarySensor {
  public:
  ADIEncoder(std::uint8_t iportTop, std::uint8_t iportBottom, bool ireversed = false);
 
  ADIEncoder(std::tuple<std::uint8_t, std::uint8_t, std::uint8_t> iports, bool ireversed = false);
 
  virtual double get() const override;
 
  virtual std::int32_t reset() override;
 
  virtual double controllerGet() override;
 
  protected:
  pros::c::ext_adi_encoder_t enc;
};
} // namespace okapi