From d22fc8e244290b0141a7afe59204e631814ab4d6 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pascal@passervr.com>
Date: Mon, 29 Jan 2024 10:46:36 +0100
Subject: [PATCH] Improved encoder support

---
 AbsoluteEncoder.cpp                  |  2 ++
 FeedbackServo.h => AbsoluteEncoder.h |  5 +++--
 Encoder.cpp                          | 19 +++++++++++--------
 Encoder.h                            | 20 +++++++++++++-------
 FeedbackServo.cpp                    |  3 ---
 IncrementalEncoder.cpp               | 19 +++++++++++++++++++
 6 files changed, 48 insertions(+), 20 deletions(-)
 create mode 100644 AbsoluteEncoder.cpp
 rename FeedbackServo.h => AbsoluteEncoder.h (67%)
 delete mode 100644 FeedbackServo.cpp
 create mode 100644 IncrementalEncoder.cpp

diff --git a/AbsoluteEncoder.cpp b/AbsoluteEncoder.cpp
new file mode 100644
index 0000000..6606485
--- /dev/null
+++ b/AbsoluteEncoder.cpp
@@ -0,0 +1,2 @@
+#include "AbsoluteEncoder.h"
+
diff --git a/FeedbackServo.h b/AbsoluteEncoder.h
similarity index 67%
rename from FeedbackServo.h
rename to AbsoluteEncoder.h
index 5201b9d..bcc643e 100644
--- a/FeedbackServo.h
+++ b/AbsoluteEncoder.h
@@ -5,11 +5,12 @@
 namespace Passer {
 namespace RoboidContol {
 
-class FeedbackServo : public ServoMotor {
+class AbsoluteEncoder {
 public:
-  FeedbackServo();
+  AbsoluteEncoder() {}
 
   virtual float GetActualAngle() = 0;
+  virtual float GetActualVelocity() = 0;
 };
 
 } // namespace RoboidContol
diff --git a/Encoder.cpp b/Encoder.cpp
index 07e2558..f9a472b 100644
--- a/Encoder.cpp
+++ b/Encoder.cpp
@@ -1,18 +1,21 @@
+/*
 #include "Encoder.h"
 
-Encoder::Encoder(unsigned char pulsesPerRevolution,
-                 unsigned char distancePerRotation) {
-  //: Encoder::Encoder() {
+IncrementalEncoder::IncrementalEncoder(unsigned char pulsesPerRevolution,
+                                       unsigned char distancePerRotation) {
   this->pulsesPerRevolution = pulsesPerRevolution;
   this->distancePerRevolution = distancePerRotation;
 }
 
-int Encoder::GetPulseCount() { return 0; }
+int IncrementalEncoder::GetPulseCount() { return 0; }
 
-float Encoder::GetDistance() { return 0; }
+float IncrementalEncoder::GetDistance() { return 0; }
 
-float Encoder::GetPulsesPerSecond(float currentTimeMs) { return 0; }
+float IncrementalEncoder::GetPulsesPerSecond(float currentTimeMs) { return 0; }
 
-float Encoder::GetRevolutionsPerSecond(float currentTimeMs) { return 0; }
+float IncrementalEncoder::GetRevolutionsPerSecond(float currentTimeMs) {
+  return 0;
+}
 
-float Encoder::GetSpeed(float currentTimeMs) { return 0; }
+float IncrementalEncoder::GetSpeed(float currentTimeMs) { return 0; }
+*/
\ No newline at end of file
diff --git a/Encoder.h b/Encoder.h
index e85cdaf..bf0a672 100644
--- a/Encoder.h
+++ b/Encoder.h
@@ -1,19 +1,25 @@
 #pragma once
 
+#include "IncrementalEncoder.h"
+
 namespace Passer {
 namespace RoboidControl {
 
-/// @brief An Encoder measures the rotations of an axle using a rotary sensor
-/// Some encoders are able to detect direction, while others can not.
-class Encoder {
+// Deprecated, use explicit IncrementalEncoder in the future
+using Encoder = IncrementalEncoder;
+
+/*
+/// @brief An Encoder measures the rotations of an axle using a rotary
+/// sensor Some encoders are able to detect direction, while others can not.
+class IncrementalEncoder {
 public:
   /// @brief Creates a sensor which measures distance from pulses
   /// @param pulsesPerRevolution The number of pulse edges which make a
   /// full rotation
   /// @param distancePerRevolution The distance a wheel travels per full
   /// rotation
-  Encoder(unsigned char pulsesPerRevolution = 1,
-          unsigned char distancePerRevolution = 1);
+  IncrementalEncoder(unsigned char pulsesPerRevolution = 1,
+                     unsigned char distancePerRevolution = 1);
 
   /// @brief Get the total number of pulses since the previous call
   /// @return The number of pulses, is zero or greater
@@ -45,7 +51,7 @@ public:
   /// meter
   unsigned char distancePerRevolution = 1;
 };
-
+*/
 } // namespace RoboidControl
 } // namespace Passer
-using namespace Passer::RoboidControl;
\ No newline at end of file
+using namespace Passer::RoboidControl;
diff --git a/FeedbackServo.cpp b/FeedbackServo.cpp
deleted file mode 100644
index cab0e95..0000000
--- a/FeedbackServo.cpp
+++ /dev/null
@@ -1,3 +0,0 @@
-#include "FeedbackServo.h"
-
-FeedbackServo::FeedbackServo() {}
\ No newline at end of file
diff --git a/IncrementalEncoder.cpp b/IncrementalEncoder.cpp
new file mode 100644
index 0000000..2da89b8
--- /dev/null
+++ b/IncrementalEncoder.cpp
@@ -0,0 +1,19 @@
+#include "Encoder.h"
+
+IncrementalEncoder::IncrementalEncoder(unsigned char pulsesPerRevolution,
+                                       unsigned char distancePerRotation) {
+  this->pulsesPerRevolution = pulsesPerRevolution;
+  this->distancePerRevolution = distancePerRotation;
+}
+
+int IncrementalEncoder::GetPulseCount() { return 0; }
+
+float IncrementalEncoder::GetDistance() { return 0; }
+
+float IncrementalEncoder::GetPulsesPerSecond(float currentTimeMs) { return 0; }
+
+float IncrementalEncoder::GetRevolutionsPerSecond(float currentTimeMs) {
+  return 0;
+}
+
+float IncrementalEncoder::GetSpeed(float currentTimeMs) { return 0; }