okapi::RotationSensor Class Reference

#include <rotationSensor.hpp>

Inheritance diagram for okapi::RotationSensor:

Public Member Functions
	RotationSensor (std::uint8_t iport, bool ireversed=false)
	A rotation sensor in a V5 port.
double	get () const override
	Get the current rotation in degrees.
std::int32_t	reset () override
	Reset the sensor to zero.
double	controllerGet () override
	Get the sensor value for use in a control loop.
double	getVelocity () const
	Get the current rotational velocity estimate in degrees per second.
Public Member Functions inherited from okapi::RotarySensor
virtual	~RotarySensor ()

Protected Attributes
std::uint8_t	port
std::int8_t	reversed {1}

Detailed Description

Definition at line 12 of file rotationSensor.hpp.

Constructor & Destructor Documentation

RotationSensor()

okapi::RotationSensor::RotationSensor	(	std::uint8_t	iport,
		bool	ireversed = false
	)

A rotation sensor in a V5 port.

auto r = RotationSensor(1);
auto reversedR = RotationSensor(1, true);

Parameters

iport	The V5 port the device uses.
ireversed	Whether the sensor is reversed. This will set the reversed state in the kernel.

Member Function Documentation

controllerGet()

double okapi::RotationSensor::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 same as get.

Implements okapi::ControllerInput< double >.

get()

double okapi::RotationSensor::get ( ) const

overridevirtual

Get the current rotation in degrees.

Returns

The current rotation in degrees or PROS_ERR_F if the operation failed, setting errno.

Implements okapi::RotarySensor.

getVelocity()

double okapi::RotationSensor::getVelocity

(

)

const

Get the current rotational velocity estimate in degrees per second.

Returns

The current rotational velocity estimate in degrees per second or PROS_ERR_F if the operation failed, setting errno.

reset()

std::int32_t okapi::RotationSensor::reset ( )

overridevirtual

Reset the sensor to zero.

Returns

1 if the operation was successful or PROS_ERR if the operation failed, setting errno.

Implements okapi::ContinuousRotarySensor.

Member Data Documentation

port

std::uint8_t okapi::RotationSensor::port

protected

Definition at line 61 of file rotationSensor.hpp.

reversed

std::int8_t okapi::RotationSensor::reversed {1}

protected

Definition at line 62 of file rotationSensor.hpp.

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

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