mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
32 lines
1.2 KiB
C++
32 lines
1.2 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
#include <stdint.h>
|
|
|
|
/**
|
|
* Interface for counting the number of ticks on a digital input channel.
|
|
* Encoders, Gear tooth sensors, and counters should all subclass this so it can
|
|
* be used to build more advanced classes for control and driving.
|
|
*
|
|
* All counters will immediately start counting - Reset() them if you need them
|
|
* to be zeroed before use.
|
|
*/
|
|
class CounterBase {
|
|
public:
|
|
enum EncodingType { k1X, k2X, k4X };
|
|
|
|
virtual ~CounterBase() = default;
|
|
virtual int Get() const = 0;
|
|
virtual void Reset() = 0;
|
|
virtual double GetPeriod() const = 0;
|
|
virtual void SetMaxPeriod(double maxPeriod) = 0;
|
|
virtual bool GetStopped() const = 0;
|
|
virtual bool GetDirection() const = 0;
|
|
};
|