40 lines
1.3 KiB
C++
40 lines
1.3 KiB
C++
#pragma once
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#include "Thing.h"
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namespace RoboidControl {
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/// @brief An Incremental Encoder measures the rotations of an axle using a
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/// rotary sensor. Some encoders are able to detect direction, while others can
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/// not.
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class RelativeEncoder : public Thing {
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public:
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/// @brief Creates a sensor which measures distance from pulses
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/// @param pulsesPerRevolution The number of pulse edges which make a
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/// full rotation
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/// @param distancePerRevolution The distance a wheel travels per full
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/// rotation
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RelativeEncoder(Participant* owner);
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// RelativeEncoder(Thing* parent);
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RelativeEncoder(Thing& parent = Thing::LocalRoot());
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/// @brief Get the rotation speed
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/// @return The speed in revolutions per second
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virtual float GetRotationSpeed();
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float rotationSpeed;
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/// @brief Function used to generate binary data for this touch sensor
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/// @param buffer The byte array for thw binary data
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/// @param ix The starting position for writing the binary data
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int GenerateBinary(char* bytes, unsigned char* ix) override;
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/// @brief Function used to process binary data received for this touch sensor
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/// @param bytes The binary data to process
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virtual void ProcessBinary(char* bytes) override;
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protected:
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/// @brief rotation speed in revolutions per second
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//float _rotationSpeed;
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};
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} // namespace RoboidControl
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