rotation.h

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/**
 * @file rotation.h
 * @brief V5 rotation sensor using Core's geometry and physical units.
 */
 
#pragma once
 
#include "core/math/geometry/rotation2d.h"
#include "core/math/units.h"
#include "crust/devices/device.h"
 
namespace crust {
 
/**
 * @brief Class implementing the V5 Rotation Sensor.
 *
 * Provides functions for getting angle (wrapped), position (continuous), and angular velocity.
 * The sensor is able to be reversed, and its position can be set.
 */
class Rotation : public Device {
 public:
  /**
   * @brief Constructs a Rotation Sensor.
   * @param port Physical Smart Port number [1, 21].
   * @param reversed True to reverse the reported direction.
   */
  explicit Rotation(int port, bool reversed = false);
 
  /**
   * @brief Gets the shaft's absolute orientation within one revolution.
   * @return Wrapped orientation represented by a Rotation2d.
   * @note set_position() does not affect this value! The offset for this function can be set
   * manually in the brain's devices tab.
   */
  Rotation2d angle() const;
 
  /**
   * @brief Gets the shaft's accumulated rotation relative to the current zero point.
   * @return Continuous units::Angle that can span multiple revolutions.
   */
  units::Angle position() const;
 
  /**
   * @brief Gets the shaft's angular velocity.
   * @return units::AngularVelocity.
   */
  units::AngularVelocity velocity() const;
 
  /**
   * @brief Sets the accumulated position to a continuous units::Angle.
   * @param position value to set.
   * @note Rounds to the nearest 0.01 degree for the C SDK. Does not change the result of angle().
   */
  void set_position(units::Angle position);
 
  /**
   * @brief Sets the accumulated position to a wrapped Rotation2d.
   * @param position value to set.
   * @note Rounds to the nearest 0.01 degree, wraps a rounded full revolution to zero.
   *       Does not change the result of angle().
   */
  void set_position(Rotation2d position);
 
  /**
   * @brief Sets the accumulated position to zero.
   * @note Does not change the result of angle().
   */
  void reset_position();
 
  /**
   * @brief Configures the direction reported.
   * @param reversed True to reverse the sensor.
   */
  void set_reversed(bool reversed);
 
  /**
   * @brief Gets the sensor's reversal flag.
   * @return True if sensor is reversed.
   */
  bool reversed() const;
};
 
}  // namespace crust