TitanSmallEncoder.h

#pragma once
 
#include "TitanSmall.h"
#include <frc/CounterBase.h>
 
class studica::TitanSmallEncoder : frc::CounterBase{
 
 private:
 long handle;
 double encoder0DistPerTick; 
 int encoderTicks;
 double distance; 
 
 
 public:
 TitanSmallEncoder(TitanSmall &titan, double distPerTick);
 
 
 
 int Get() const override;
 
 void Reset() override;
 
 double GetPeriod() const override;
 
 void SetMaxPeriod(double maxPeriod) override;
 
 bool GetStopped() const override;
 
 double GetEncoderDistance();
 
 // /**
 // * Resets encoder specified
 // */
 // void ResetEncoder();
 
 double GetRaw();
 
 double GetRPM();
 
 double GetSpeed();
 
 bool GetDirection() const override;
 
 void SetReverseDirection();
};