Initial commit - test serial

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

@@ -0,0 +1,56 @@
+/*
+ * 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"
+#include "okapi/impl/device/motor/motor.hpp"
+
+namespace okapi {
+class IntegratedEncoder : public ContinuousRotarySensor {
+  public:
+  /**
+   * Integrated motor encoder. Uses the encoder inside the V5 motor.
+   *
+   * @param imotor The motor to use the encoder from.
+   */
+  IntegratedEncoder(const okapi::Motor &imotor);
+
+  /**
+   * Integrated motor encoder. Uses the encoder inside the V5 motor.
+   *
+   * @param iport The motor's port number in the range [1, 21].
+   * @param ireversed Whether the encoder is reversed.
+   */
+  IntegratedEncoder(std::int8_t iport, 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:
+  std::uint8_t port;
+  std::int8_t reversed{1};
+};
+} // namespace okapi