TitanQuadEncoder.h

#pragma once
 
#include "TitanQuad.h"
#include <frc/CounterBase.h>
 
class studica::TitanQuadEncoder : frc::CounterBase{
 
 private:
 long handle;
 int encoder;
 double encoderDistPerTick;
 // double encoder0DistPerTick; 
 // double encoder1DistPerTick; 
 // double encoder2DistPerTick; 
 // double encoder3DistPerTick; 
 int encoderTicks;
 double distance; 
 
 
 public:
 // /**
 // * Constructor for encoders
 // * @param titan - The reference to the TitanQuad encoders that are being initialize
 // * @param encoder - The encoder
 // * @param distPerTick0 - Distance per tick value for encoder 0
 // * @param distPerTick1 - Distance per tick value for encoder 1
 // * @param distPerTick2 - Distance per tick value for encoder 2
 // * @param distPerTick3 - Distance per tick value for encoder 3
 // */
 // TitanQuadEncoder(TitanQuad &titan, int encoder, double distPerTick0, double distPerTick1, double distPerTick2, double distPerTick3); 
 
 TitanQuadEncoder(TitanQuad &titan, int encoder, double distPerTick);
 
 
 
 int Get() const override;
 
 void Reset() override;
 
 double GetPeriod() const override;
 
 void SetMaxPeriod(double maxPeriod) override;
 
 bool GetStopped() const override;
 
 
 double GetEncoderDistance();
 
 // /**
 // * Will reset the specified encoder and set its count value to 0
 // */
 // void ResetEncoder();
 
 double GetRaw();
 
 double GetSpeed();
 
 bool GetDirection() const override;
 
 void SetReverseDirection();
};