offsettableControllerInput.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 "okapi/api/control/controllerInput.hpp"
#include <memory>
 
namespace okapi {
class OffsetableControllerInput : public ControllerInput<double> {
  public:
  explicit OffsetableControllerInput(const std::shared_ptr<ControllerInput<double>> &iinput);
 
  virtual ~OffsetableControllerInput();
 
  double controllerGet() override;
 
  virtual void tarePosition();
 
  protected:
  std::shared_ptr<ControllerInput<double>> input;
  double offset{0};
};
} // namespace okapi