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FRC2016-old/DriveBase/wpilib/cpp/current/include/GearTooth.h
2016-01-28 11:33:19 -05:00

34 lines
1.3 KiB
C++

/*----------------------------------------------------------------------------*/
/* 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 "Counter.h"
#include <memory>
/**
* Alias for counter class.
* Implement the gear tooth sensor supplied by FIRST. Currently there is no
* reverse sensing on
* the gear tooth sensor, but in future versions we might implement the
* necessary timing in the
* FPGA to sense direction.
*/
class GearTooth : public Counter {
public:
/// 55 uSec for threshold
static constexpr double kGearToothThreshold = 55e-6;
GearTooth(uint32_t channel, bool directionSensitive = false);
GearTooth(DigitalSource *source, bool directionSensitive = false);
GearTooth(std::shared_ptr<DigitalSource> source,
bool directionSensitive = false);
virtual ~GearTooth() = default;
void EnableDirectionSensing(bool directionSensitive);
virtual std::string GetSmartDashboardType() const override;
};