enc03r.h

/*
 * Author: Jon Trulson <jtrulson@ics.com>
 * Copyright (c) 2014 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 <mraa/aio.h>

namespace upm {

  class ENC03R {
  public:

    ENC03R(int pin, float vref=5.0);

    ~ENC03R();

    void calibrate(unsigned int samples);
    
    unsigned int value();

    float calibrationValue() { return m_calibrationValue; };

    double angularVelocity(unsigned int val);

  private:
    // determined by calibrate();
    float m_calibrationValue;

    // reference voltage
    float m_vref;
    mraa_aio_context m_aio;
  };
}