#include <offsettableControllerInput.hpp>

Inheritance diagram for okapi::OffsetableControllerInput:

Public Member Functions
	OffsetableControllerInput (const std::shared_ptr< ControllerInput< double > > &iinput)
	A ControllerInput which can be tared to change the zero position.

virtual	~OffsetableControllerInput ()

double	controllerGet () override
	Get the sensor value for use in a control loop.

virtual void	tarePosition ()
	Sets the "absolute" zero position of this controller input to its current position.

Protected Attributes
std::shared_ptr< ControllerInput< double > >	input

double	offset {0}

Detailed Description

Definition at line 12 of file offsettableControllerInput.hpp.

Constructor & Destructor Documentation

◆ OffsetableControllerInput()

okapi::OffsetableControllerInput::OffsetableControllerInput ( const std::shared_ptr< ControllerInput< double > > & iinput )

explicit

A ControllerInput which can be tared to change the zero position.

Parameters

iinput The ControllerInput to reference.

◆ ~OffsetableControllerInput()

virtual okapi::OffsetableControllerInput::~OffsetableControllerInput ( )

virtual

Member Function Documentation

◆ controllerGet()

double okapi::OffsetableControllerInput::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 >.

◆ tarePosition()

virtual void okapi::OffsetableControllerInput::tarePosition ( )

virtual

Sets the "absolute" zero position of this controller input to its current position.

This does nothing if the underlying controller input returns PROS_ERR.

Member Data Documentation

◆ input

std::shared_ptr<ControllerInput<double> > okapi::OffsetableControllerInput::input

protected

Definition at line 38 of file offsettableControllerInput.hpp.

◆ offset

double okapi::OffsetableControllerInput::offset {0}