trackingWheel.hpp

Go to the documentation of this file.

 
#pragma once
 
#include "pros/motors.hpp"
#include "pros/adi.hpp"
#include "pros/rotation.hpp"
 
namespace lemlib {
class TrackingWheel {
    public:
        TrackingWheel(pros::ADIEncoder* encoder, float diameter, float distance, float gearRatio = 1);
        TrackingWheel(pros::Rotation* encoder, float diameter, float distance, float gearRatio = 1);
        TrackingWheel(pros::Motor_Group* motors, float diameter, float distance, float rpm);
        void reset();
        float getDistanceTraveled();
        float getOffset();
        int getType();
    private:
        float diameter;
        float distance;
        float rpm;
        pros::ADIEncoder* encoder = nullptr;
        pros::Rotation* rotation = nullptr;
        pros::Motor_Group* motors = nullptr;
        float gearRatio = 1;
};
} // namespace lemlib