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FRC2016-old/DriveBase/wpilib/cpp/current/include/CounterBase.h

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2016-01-28 11:33:19 -05:00
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <stdint.h>
/**
* Interface for counting the number of ticks on a digital input channel.
* Encoders, Gear tooth sensors, and counters should all subclass this so it can
* be used to build more advanced classes for control and driving.
*
* All counters will immediately start counting - Reset() them if you need them
* to be zeroed before use.
*/
class CounterBase {
public:
enum EncodingType { k1X, k2X, k4X };
virtual ~CounterBase() = default;
virtual int32_t Get() const = 0;
virtual void Reset() = 0;
virtual double GetPeriod() const = 0;
virtual void SetMaxPeriod(double maxPeriod) = 0;
virtual bool GetStopped() const = 0;
virtual bool GetDirection() const = 0;
};