wrapped_encoder.hpp

Go to the documentation of this file.

/*****************************************************************************/
/********** !!! WARNING: CODE GENERATED BY TAPROOT. DO NOT EDIT !!! **********/
/*****************************************************************************/
 
/*
 * Copyright (c) 2025 Advanced Robotics at the University of Washington <robomstr@uw.edu>
 *
 * This file is part of Taproot.
 *
 * Taproot is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Taproot is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef TAPROOT_WRAPPED_ENCODER_HPP_
#define TAPROOT_WRAPPED_ENCODER_HPP_
 
#include "tap/communication/sensors/encoder/encoder_interface.hpp"
#include "tap/util_macros.hpp"
 
namespace tap::encoder
{
class WrappedEncoder : public EncoderInterface
{
public:
    WrappedEncoder(
        bool isInverted,
        uint32_t encoderResolution,
        float gearRatio = 1,
        uint32_t encoderHomePosition = 0);
 
    void initialize() override{};
 
    tap::algorithms::WrappedFloat getPosition() const override;
 
    mockable tap::algorithms::WrappedFloat getEncoder() const { return encoder; }
 
    float getVelocity() const override;
 
    void alignWith(EncoderInterface* other) override;
 
    void resetEncoderValue() override;
 
    DISALLOW_COPY_AND_ASSIGN(WrappedEncoder)
 
#if defined(PLATFORM_HOSTED) && defined(ENV_UNIT_TESTS)
    bool isOnline() const override { return true; }
#else
protected:
#endif
 
    void updateEncoderValue(uint32_t encoderActual);
 
    tap::algorithms::WrappedFloat encoder;
 
    tap::algorithms::WrappedFloat position;
 
    bool inverted;
 
    const uint32_t encoderResolution;
 
    const float gearRatio;
 
private:
    tap::algorithms::WrappedFloat encoderHomePosition;
 
    tap::algorithms::WrappedFloat pastPosition;
 
    uint64_t lastUpdateTime;
 
    uint64_t deltaTime;
};
 
}  // namespace tap::encoder
 
#endif  // TAPROOT_WRAPPED_ENCODER_HPP_