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include/okapi/api/control/offsettableControllerInput.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 "okapi/api/control/controllerInput.hpp"
+#include <memory>
+
+namespace okapi {
+class OffsetableControllerInput : public ControllerInput<double> {
+  public:
+  /**
+   * A ControllerInput which can be tared to change the zero position.
+   *
+   * @param iinput The ControllerInput to reference.
+   */
+  explicit OffsetableControllerInput(const std::shared_ptr<ControllerInput<double>> &iinput);
+
+  virtual ~OffsetableControllerInput();
+
+  /**
+   * 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.
+   */
+  double controllerGet() override;
+
+  /**
+   * Sets the "absolute" zero position of this controller input to its current position. This does
+   * nothing if the underlying controller input returns PROS_ERR.
+   */
+  virtual void tarePosition();
+
+  protected:
+  std::shared_ptr<ControllerInput<double>> input;
+  double offset{0};
+};
+} // namespace okapi