#pragma once

#include "Thing.h"

namespace RoboidControl {

/// @brief An Incremental Encoder measures the rotations of an axle using a
/// rotary sensor. Some encoders are able to detect direction, while others can
/// not.
class RelativeEncoder : public Thing {
 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
  RelativeEncoder(Participant* owner);
  // RelativeEncoder(Thing* parent);
  RelativeEncoder(Thing* parent = Thing::LocalRoot());

  /// @brief Get the rotation speed 
  /// @return The speed in revolutions per second
  virtual float GetRotationSpeed();
  float rotationSpeed;

  /// @brief Function used to generate binary data for this touch sensor
  /// @param buffer The byte array for thw binary data
  /// @param ix The starting position for writing the binary data
  int GenerateBinary(char* bytes, unsigned char* ix) override;
  /// @brief Function used to process binary data received for this touch sensor
  /// @param bytes The binary data to process
  virtual void ProcessBinary(char* bytes) override;

protected:
    /// @brief rotation speed in revolutions per second
    //float _rotationSpeed;
};

}  // namespace RoboidControl