Squashed 'third_party/allwpilib_2017/' content from commit 35ac87d
Change-Id: I7bb6f5556c30d3f5a092e68de0be9c710c60c9f4
git-subtree-dir: third_party/allwpilib_2017
git-subtree-split: 35ac87d6ff8b7f061c4f18c9ea316e5dccd4888a
diff --git a/wpilibc/athena/include/GearTooth.h b/wpilibc/athena/include/GearTooth.h
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+++ b/wpilibc/athena/include/GearTooth.h
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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 <memory>
+#include <string>
+
+#include "Counter.h"
+
+namespace frc {
+
+/**
+ * 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;
+ explicit GearTooth(int channel, bool directionSensitive = false);
+ explicit GearTooth(DigitalSource* source, bool directionSensitive = false);
+ explicit GearTooth(std::shared_ptr<DigitalSource> source,
+ bool directionSensitive = false);
+ virtual ~GearTooth() = default;
+ void EnableDirectionSensing(bool directionSensitive);
+
+ std::string GetSmartDashboardType() const override;
+};
+
+} // namespace frc