Initial commit - test serial

SerialTest/include/okapi/impl/device/rotarysensor/adiEncoder.hpp

@@ -0,0 +1,73 @@
+/*
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+#pragma once
+
+#include "api.h"
+#include "okapi/api/device/rotarysensor/continuousRotarySensor.hpp"
+
+namespace okapi {
+class ADIEncoder : public ContinuousRotarySensor {
+  public:
+  /**
+   * An encoder in an ADI port.
+   *
+   * ```cpp
+   * auto enc = ADIEncoder('A', 'B', false);
+   * auto reversedEnc = ADIEncoder('A', 'B', true);
+   * ```
+   *
+   * @param iportTop The "top" wire from the encoder with the removable cover side up. This must be
+   * in port ``1``, ``3``, ``5``, or ``7`` (``A``, ``C``, ``E``, or ``G``).
+   * @param iportBottom The "bottom" wire from the encoder. This must be in port ``2``, ``4``,
+   * ``6``, or ``8`` (``B``, ``D``, ``F``, or ``H``).
+   * @param ireversed Whether the encoder is reversed.
+   */
+  ADIEncoder(std::uint8_t iportTop, std::uint8_t iportBottom, bool ireversed = false);
+
+  /**
+   * An encoder in an ADI port.
+   *
+   * ```cpp
+   * auto enc = ADIEncoder({1, 'A', 'B'}, false);
+   * auto reversedEnc = ADIEncoder({1, 'A', 'B'}, true);
+   * ```
+   *
+   * @param iports The ports the encoder is plugged in to in the order ``{smart port, top port,
+   * bottom port}``. The smart port is the smart port number (``[1, 21]``). The top port is the
+   * "top" wire from the encoder with the removable cover side up. This must be in port ``1``,
+   * ``3``, ``5``, or
+   * ``7`` (``A``, ``C``, ``E``, or ``G``). The bottom port is the "bottom" wire from the encoder.
+   * This must be in port ``2``, ``4``, ``6``, or ``8`` (``B``, ``D``, ``F``, or ``H``).
+   * @param ireversed Whether the encoder is reversed.
+   */
+  ADIEncoder(std::tuple<std::uint8_t, std::uint8_t, std::uint8_t> iports, bool ireversed = false);
+
+  /**
+   * Get the current sensor value.
+   *
+   * @return the current sensor value, or `PROS_ERR` on a failure.
+   */
+  virtual double get() const override;
+
+  /**
+   * Reset the sensor to zero.
+   *
+   * @return `1` on success, `PROS_ERR` on fail
+   */
+  virtual std::int32_t reset() override;
+
+  /**
+   * Get the sensor value for use in a control loop. This method might be automatically called in
+   * another thread by the controller.
+   *
+   * @return the current sensor value, or `PROS_ERR` on a failure.
+   */
+  virtual double controllerGet() override;
+
+  protected:
+  pros::c::ext_adi_encoder_t enc;
+};
+} // namespace okapi