CounterBase.hpp

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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
#pragma once
 
#include "wpi/units/time.hpp"
 
namespace wpi {
 
/**
 * 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:
  /** The number of edges for the CounterBase to increment or decrement on. */
  enum class EncodingType { X1, X2, X4 };
 
  CounterBase() = default;
  virtual ~CounterBase() = default;
 
  CounterBase(CounterBase&&) = default;
  CounterBase& operator=(CounterBase&&) = default;
 
  virtual int Get() const = 0;
  virtual void Reset() = 0;
  virtual wpi::units::second_t GetPeriod() const = 0;
  virtual void SetMaxPeriod(wpi::units::second_t maxPeriod) = 0;
  virtual bool GetStopped() const = 0;
  virtual bool GetDirection() const = 0;
};
 
}  // namespace wpi