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e09293a15e
A lot of these are breaking changes. frc::Timer was replaced with the contents of frc2::Timer. The others were in-place argument changes or removing deprecated non-unit overloads.
39 lines
1.1 KiB
C++
39 lines
1.1 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <units/time.h>
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namespace frc {
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/**
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* Interface for counting the number of ticks on a digital input channel.
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*
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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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public:
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enum EncodingType { k1X, k2X, k4X };
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CounterBase() = default;
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virtual ~CounterBase() = default;
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CounterBase(CounterBase&&) = default;
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CounterBase& operator=(CounterBase&&) = default;
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virtual int Get() const = 0;
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virtual void Reset() = 0;
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virtual units::second_t GetPeriod() const = 0;
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virtual void SetMaxPeriod(units::second_t maxPeriod) = 0;
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virtual bool GetStopped() const = 0;
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virtual bool GetDirection() const = 0;
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};
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} // namespace frc
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