Encoder.h

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/*
 * Encoder.h
 *
 *  Created on: 25.01.2020
 *      Author: Yannick
 */
 
#ifndef ENCODER_H_
#define ENCODER_H_
 
#include "FFBoardMain.h"
#include "ChoosableClass.h"
 
/*
 * Note:
 * Encoders should count UP when turned counterclockwise
 * This is not the default gamepad direction but matches most motors
 * If direction is not fixed the encoder class should provide a reverse option
 */
 
/*
 * Info encoder type:
 * Incremental: relative position with no homing
 * Incremental with index: Absolute position available after homing
 * Absolute: Absolute position always available
 */
enum class EncoderType : uint8_t {NONE=0,incremental=1,incrementalIndex=2,absolute=3};
 
class Encoder : public ChoosableClass {
public:
    Encoder();
    virtual ~Encoder();
    static ClassIdentifier info;
    const ClassIdentifier getInfo();
 
    virtual EncoderType getEncoderType();
 
    virtual int32_t getPos();
    virtual float getPos_f();
 
    virtual int32_t getPosAbs();
    virtual float getPosAbs_f();
 
    virtual void setPos(int32_t pos);
 
    virtual uint32_t getCpr(); // Encoder counts per rotation
 
 
    static const std::vector<class_entry<Encoder> > all_encoders;
    virtual const ClassType getClassType() override {return ClassType::Encoder;};
 
protected:
    uint32_t cpr = 0;
};
 
 
#endif /* ENCODER_H_ */