tracking_wheel.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 "light/adi.hpp"
#include "light/rotation.hpp"
 
namespace light {
class tracking_wheel {
 public:
  pros::adi::Encoder adi_encoder;  
  pros::Rotation smart_encoder;    
 
  tracking_wheel(std::vector<int> ports, double wheel_diameter, double distance_to_center = 0.0, double ratio = 1.0);
 
  tracking_wheel(int smart_port, std::vector<int> ports, double wheel_diameter, double distance_to_center = 0.0, double ratio = 1.0);
 
  tracking_wheel(int port, double wheel_diameter, double distance_to_center = 0.0, double ratio = 1.0);
 
  double get();
 
  double get_raw();
 
  void distance_to_center_set(double input);
 
  double distance_to_center_get();
 
  void distance_to_center_flip_set(bool input);
 
  bool distance_to_center_flip_get();
 
  void reset();
 
  double ticks_per_inch();
 
  void ticks_per_rev_set(double input);
 
  double ticks_per_rev_get();
 
  void ratio_set(double input);
 
  double ratio_get();
 
  void wheel_diameter_set(double input);
 
  double wheel_diameter_get();
 
 private:
#define DRIVE_ADI_ENCODER 2
#define DRIVE_ROTATION 3
  int IS_TRACKER = 0;
 
  bool IS_FLIPPED = false;
 
  double DISTANCE_TO_CENTER = 0.0;
  double WHEEL_DIAMETER = 0.0;
  double RATIO = 1.0;
  double ENCODER_TICKS_PER_REV = 0.0;
  double WHEEL_TICK_PER_REV = 0.0;
};
};  // namespace light