enc03r.hpp

/*
 * Author: Jon Trulson <jtrulson@ics.com>
 * Copyright (c) 2014-2017 Intel Corporation.
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject to
 * the following conditions:
 *
 * The above copyright notice and this permission notice shall be
 * included in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */
#pragma once

#include <string>
#include "enc03r.h"

namespace upm {
class ENC03R {
    public:
        ENC03R(int pin, float aref=5.0);

        ~ENC03R();

        void calibrate(unsigned int samples);

        void update();

        float calibrationValue() { return enc03r_calibration_value(m_enc03r); };

        float angularVelocity();

        void setOffset(float offset);

        void setScale(float scale);

        float getNormalized();

    protected:
        enc03r_context m_enc03r;

    private:
        /* Disable implicit copy and assignment operators */
        ENC03R(const ENC03R&) = delete;
        ENC03R &operator=(const ENC03R&) = delete;
};
}