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https://github.com/wpilibsuite/allwpilib
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36 lines
1.0 KiB
C++
36 lines
1.0 KiB
C++
/*----------------------------------------------------------------------------*/
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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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#pragma once
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#include <stdint.h>
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/**
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* Interface for counting the number of ticks on a digital input channel.
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* Encoders, Gear tooth sensors, and counters should all subclass this so it can
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* be used to build more advanced classes for control and driving.
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*
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* All counters will immediately start counting - Reset() them if you need them
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* to be zeroed before use.
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*/
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class CounterBase
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{
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public:
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enum EncodingType
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{
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k1X,
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k2X,
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k4X
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};
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virtual ~CounterBase() {}
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virtual int32_t Get() = 0;
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virtual void Reset() = 0;
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virtual double GetPeriod() = 0;
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virtual void SetMaxPeriod(double maxPeriod) = 0;
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virtual bool GetStopped() = 0;
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virtual bool GetDirection() = 0;
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};
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