adiMotor.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/control/controllerOutput.hpp"
#include "okapi/api/util/logging.hpp"
 
namespace okapi {
class ADIMotor : public ControllerOutput<double> {
  public:
  ADIMotor(std::uint8_t iport,
           bool ireverse = false,
           const std::shared_ptr<Logger> &logger = Logger::getDefaultLogger());
 
  ADIMotor(std::pair<std::uint8_t, std::uint8_t> iports,
           bool ireverse = false,
           const std::shared_ptr<Logger> &logger = Logger::getDefaultLogger());
 
  virtual void moveVoltage(std::int8_t ivoltage) const;
 
  void controllerSet(double ivalue) override;
 
  protected:
  std::uint8_t smartPort;
  std::uint8_t port;
  std::int8_t reversed;
};
} // namespace okapi