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https://github.com/wpilibsuite/allwpilib
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35 lines
1.2 KiB
C
35 lines
1.2 KiB
C
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#ifndef GEAR_TOOTH_H_
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#define GEAR_TOOTH_H_
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#include "Counter.h"
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/**
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* Alias for counter class.
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* Implement the gear tooth sensor supplied by FIRST. Currently there is no reverse sensing on
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* the gear tooth sensor, but in future versions we might implement the necessary timing in the
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* FPGA to sense direction.
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*/
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class GearTooth : public Counter
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{
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public:
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/// 55 uSec for threshold
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static constexpr double kGearToothThreshold = 55e-6;
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GearTooth(uint32_t channel, bool directionSensitive = false);
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GearTooth(uint8_t moduleNumber, uint32_t channel, bool directionSensitive = false);
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GearTooth(DigitalSource *source, bool directionSensitive = false);
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GearTooth(DigitalSource &source, bool directionSensitive = false);
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virtual ~GearTooth();
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void EnableDirectionSensing(bool directionSensitive);
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virtual std::string GetSmartDashboardType();
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};
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#endif
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