#pragma once

class Encoder {
 public:
  Encoder();
  Encoder(unsigned char pin, unsigned char transitionsPerRotation);

  float GetPulsesPerSecond();
  float GetRevolutionsPerSecond();

  void ResetDistance();
  float GetRotationDistance();

  void Update(float timeStep);

  virtual void StartCountingRevolutions();
  virtual float RestartCountingRevolutions();

 protected:
  static void InterruptHandler();
  static volatile unsigned char transitionCount;
  unsigned char transitionsPerRotation;
  float rps;

  float distance;  // this is direction agnostic
};