| /*----------------------------------------------------------------------------*/ |
| /* 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 |
| |
| namespace frc { |
| |
| /** |
| * 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 int 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; |
| }; |
| |
| } // namespace frc |