From e995d4cec9a2c7dd630edd7868592c9e434a733c Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pascal@passervr.com>
Date: Mon, 29 Jan 2024 10:48:37 +0100
Subject: [PATCH] Fixed missing IncrementalEncoder.h

---
 IncrementalEncoder.h | 51 ++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 51 insertions(+)
 create mode 100644 IncrementalEncoder.h

diff --git a/IncrementalEncoder.h b/IncrementalEncoder.h
new file mode 100644
index 0000000..83bd135
--- /dev/null
+++ b/IncrementalEncoder.h
@@ -0,0 +1,51 @@
+#pragma once
+
+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 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
+  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
+  virtual int GetPulseCount();
+  /// @brief Get the pulse speed since the previous call
+  /// @param currentTimeMs The clock time in milliseconds
+  /// @return The average pulses per second in the last period.
+  virtual float GetPulsesPerSecond(float currentTimeMs);
+
+  /// @brief Get the distance traveled since the previous call
+  /// @return The distance in meters.
+  virtual float GetDistance();
+
+  /// @brief Get the rotation speed since the previous call
+  /// @param currentTimeMs The clock time in milliseconds
+  /// @return The speed in rotations per second
+  virtual float GetRevolutionsPerSecond(float currentTimeMs);
+
+  /// @brief Get the speed since the previous call
+  /// @param currentTimeMs The clock time in milliseconds
+  /// @return The speed in meters per second.
+  /// @note this value is dependent on the accurate setting of the
+  /// pulsesPerRevolution and distancePerRevolution parameters;
+  virtual float GetSpeed(float currentTimeMs);
+
+  /// @brief The numer of pulses corresponding to a full rotation of the axle
+  unsigned char pulsesPerRevolution = 1;
+  /// @brief The number of revolutions which makes the wheel move forward 1
+  /// meter
+  unsigned char distancePerRevolution = 1;
+};
+
+} // namespace RoboidControl
+} // namespace Passer
+using namespace Passer::RoboidControl;
\ No newline at end of file