rotationSensor.hpp

Go to the documentation of this file.

/*
 * 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"
 
namespace okapi {
class RotationSensor : public ContinuousRotarySensor {
  public:
  RotationSensor(std::uint8_t iport, bool ireversed = false);
 
  double get() const override;
 
  std::int32_t reset() override;
 
  double controllerGet() override;
 
  double getVelocity() const;
 
  protected:
  std::uint8_t port;
  std::int8_t reversed{1};
};
} // namespace okapi