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59267da72b
Base.h provides a backwards compatibility shim (enabled unless NAMESPACED_WPILIB is defined) that does a "using namespace frc". However, as some header files do not include Base.h, this may be a breaking change in some corner cases (with an easy fix). Fixes #218.
35 lines
1.2 KiB
C++
35 lines
1.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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 the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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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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virtual ~CounterBase() = default;
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virtual int Get() const = 0;
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virtual void Reset() = 0;
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virtual double GetPeriod() const = 0;
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virtual void SetMaxPeriod(double 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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