okapi::ADIEncoder Class Reference

#include <adiEncoder.hpp>

Inheritance diagram for okapi::ADIEncoder:

Public Member Functions
	ADIEncoder (std::uint8_t iportTop, std::uint8_t iportBottom, bool ireversed=false)
	An encoder in an ADI port.
	ADIEncoder (std::tuple< std::uint8_t, std::uint8_t, std::uint8_t > iports, bool ireversed=false)
	An encoder in an ADI port.
virtual double	get () const override
	Get the current sensor value.
virtual std::int32_t	reset () override
	Reset the sensor to zero.
virtual double	controllerGet () override
	Get the sensor value for use in a control loop.
Public Member Functions inherited from okapi::RotarySensor
virtual	~RotarySensor ()

Protected Attributes
pros::c::ext_adi_encoder_t	enc

Detailed Description

Definition at line 12 of file adiEncoder.hpp.

Constructor & Destructor Documentation

ADIEncoder() [1/2]

okapi::ADIEncoder::ADIEncoder	(	std::uint8_t	iportTop,
		std::uint8_t	iportBottom,
		bool	ireversed = false
	)

An encoder in an ADI port.

auto enc = ADIEncoder('A', 'B', false);
auto reversedEnc = ADIEncoder('A', 'B', true);

Parameters

iportTop	The "top" wire from the encoder with the removable cover side up. This must be in port 1, 3, 5, or 7 (A, C, E, or G).
iportBottom	The "bottom" wire from the encoder. This must be in port 2, 4, 6, or 8 (B, D, F, or H).
ireversed	Whether the encoder is reversed.

ADIEncoder() [2/2]

okapi::ADIEncoder::ADIEncoder	(	std::tuple< std::uint8_t, std::uint8_t, std::uint8_t >	iports,
		bool	ireversed = false
	)

An encoder in an ADI port.

auto enc = ADIEncoder({1, 'A', 'B'}, false);
auto reversedEnc = ADIEncoder({1, 'A', 'B'}, true);

Parameters

iports	The ports the encoder is plugged in to in the order {smart port, top port, bottom port}. The smart port is the smart port number ([1, 21]). The top port is the "top" wire from the encoder with the removable cover side up. This must be in port 1, 3, 5, or 7 (A, C, E, or G). The bottom port is the "bottom" wire from the encoder. This must be in port 2, 4, 6, or 8 (B, D, F, or H).
ireversed	Whether the encoder is reversed.

Member Function Documentation

controllerGet()

virtual double okapi::ADIEncoder::controllerGet ( )

overridevirtual

Get the sensor value for use in a control loop.

This method might be automatically called in another thread by the controller.

Returns

the current sensor value, or PROS_ERR on a failure.

Implements okapi::ControllerInput< double >.

get()

virtual double okapi::ADIEncoder::get ( ) const

overridevirtual

Get the current sensor value.

Returns

the current sensor value, or PROS_ERR on a failure.

Implements okapi::RotarySensor.

reset()

virtual std::int32_t okapi::ADIEncoder::reset ( )

overridevirtual

Reset the sensor to zero.

Returns

1 on success, PROS_ERR on fail

Implements okapi::ContinuousRotarySensor.

Member Data Documentation

enc

pros::c::ext_adi_encoder_t okapi::ADIEncoder::enc

protected

Definition at line 71 of file adiEncoder.hpp.

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The documentation for this class was generated from the following file:

• include/okapi/impl/device/rotarysensor/adiEncoder.hpp