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include/EZ-Template/tracking_wheel.hpp

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+/*
+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 "pros/adi.hpp"
+#include "pros/rotation.hpp"
+
+namespace ez {
+class tracking_wheel {
+ public:
+  pros::adi::Encoder adi_encoder;
+  pros::Rotation smart_encoder;
+
+  /**
+   * Creates a new tracking wheel with an ADI Encoder.
+   *
+   * \param ports
+   *        {'A', 'B'}. make the encoder negative if reversed
+   * \param wheel_diameter
+   *        assumed inches, this is the diameter of your wheel
+   * \param distance_to_center
+   *        the distance to the center of your robot, this is used for tracking
+   * \param ratio
+   *        the gear ratio of your tracking wheel. if it's not geared, this should be 1.0
+   */
+  tracking_wheel(std::vector<int> ports, double wheel_diameter, double distance_to_center = 0.0, double ratio = 1.0);
+
+  /**
+   * Creates a new tracking wheel with an ADI Encoder plugged into a 3-wire expander.
+   *
+   * \param smart_port
+   *        the smart port your ADI Expander is plugged into
+   * \param ports
+   *        {'A', 'B'}. make the encoder negative if reversed
+   * \param wheel_diameter
+   *        assumed inches, this is the diameter of your wheel
+   * \param distance_to_center
+   *        the distance to the center of your robot, this is used for tracking
+   * \param ratio
+   *        the gear ratio of your tracking wheel. if it's not geared, this should be 1.0
+   */
+  tracking_wheel(int smart_port, std::vector<int> ports, double wheel_diameter, double distance_to_center = 0.0, double ratio = 1.0);
+
+  /**
+   * Creates a new tracking wheel with a Rotation sensor.
+   *
+   * \param port
+   *        the port your Rotation sensor is plugged into, make this negative if reversed
+   * \param wheel_diameter
+   *        assumed inches, this is the diameter of your wheel
+   * \param distance_to_center
+   *        the distance to the center of your robot, this is used for tracking
+   * \param ratio
+   *        the gear ratio of your tracking wheel. if it's not geared, this should be 1.0
+   */
+  tracking_wheel(int port, double wheel_diameter, double distance_to_center = 0.0, double ratio = 1.0);
+
+  /**
+   * Returns how far the wheel has traveled in inches.
+   */
+  double get();
+
+  /**
+   * Returns the raw sensor value.
+   */
+  double get_raw();
+
+  /**
+   * Sets the distance to the center of the robot.
+   *
+   * \param input
+   *        distance to the center of your robot in inches
+   */
+  void distance_to_center_set(double input);
+
+  /**
+   * Returns the distance to the center of the robot.
+   */
+  double distance_to_center_get();
+
+  /**
+   * Sets the distance to the center to be flipped to negative or not.
+   *
+   * \param input
+   *        flips distance to center to negative. false leaves it alone, true flips it
+   */
+  void distance_to_center_flip_set(bool input);
+
+  /**
+   * Returns if the distance to center is flipped or not.  False is not, true is.
+   */
+  bool distance_to_center_flip_get();
+
+  /**
+   * Resets your sensor.
+   */
+  void reset();
+
+  /**
+   * Returns the constant for how many ticks is 1 inch.
+   */
+  double ticks_per_inch();
+
+  /**
+   * Sets the amount of ticks per revolution of your sensor. 
+   * 
+   * This is useful for custom encoders.
+   *
+   * \param input
+   *        ticks per revolution
+   */
+  void ticks_per_rev_set(double input);
+
+  /**
+   * Returns the amount of ticks per revolution of your sensor.
+   */
+  double ticks_per_rev_get();
+
+  /**
+   * Sets the gear ratio for your tracking wheel.
+   *
+   * \param input
+   *        gear ratio of tracking wheel
+   */
+  void ratio_set(double input);
+
+  /**
+   * Returns the gear ratio for your tracking wheel.
+   */
+  double ratio_get();
+
+  /**
+   * Sets the diameter of your wheel.
+   *
+   * \param input
+   *        wheel diameter
+   */
+  void wheel_diameter_set(double input);
+
+  /**
+   * Returns the diameter of your wheel.
+   */
+  double wheel_diameter_get();
+
+ private:
+#define DRIVE_ADI_ENCODER 2
+#define DRIVE_ROTATION 3
+  int IS_TRACKER = 0;
+
+  bool IS_FLIPPED = false;
+
+  double DISTANCE_TO_CENTER = 0.0;
+  double WHEEL_DIAMETER = 0.0;
+  double RATIO = 1.0;
+  double ENCODER_TICKS_PER_REV = 0.0;
+  double WHEEL_TICK_PER_REV = 0.0;
+};
+};  // namespace ez