#include "RelativeEncoder.h"

namespace RoboidControl {

RelativeEncoder::RelativeEncoder(Participant* owner)
    : Thing(owner, Type::IncrementalEncoder) {}
RelativeEncoder::RelativeEncoder(Thing& parent)
    : Thing(Type::IncrementalEncoder, parent) {}

float RelativeEncoder::GetRotationSpeed() {
  return rotationSpeed;
}

int RelativeEncoder::GenerateBinary(char* data, unsigned char* ix) {
  data[(*ix)++] = (unsigned char)(this->rotationSpeed * 127);
  return 1;
}

void RelativeEncoder::ProcessBinary(char* data) {
  this->rotationSpeed = (float)data[0] / 127;
}

}  // namespace RoboidControl