integratedEncoder.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"
#include "okapi/impl/device/motor/motor.hpp"
 
namespace okapi {
class IntegratedEncoder : public ContinuousRotarySensor {
  public:
  IntegratedEncoder(const okapi::Motor &imotor);
 
  IntegratedEncoder(std::int8_t iport, bool ireversed = false);
 
  virtual double get() const override;
 
  virtual std::int32_t reset() override;
 
  virtual double controllerGet() override;
 
  protected:
  std::uint8_t port;
  std::int8_t reversed{1};
};
} // namespace okapi