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include/okapi/impl/device/rotarysensor/potentiometer.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 "api.h"
+#include "okapi/api/device/rotarysensor/rotarySensor.hpp"
+
+namespace okapi {
+class Potentiometer : public RotarySensor {
+  public:
+  /**
+   * A potentiometer in an ADI port.
+   *
+   * ```cpp
+   * auto pot = Potentiometer('A');
+   * ```
+   *
+   * @param iport The ADI port number (``[1, 8]``, ``[a, h]``, ``[A, H]``).
+   */
+  Potentiometer(std::uint8_t iport);
+
+  /**
+   * A potentiometer in an ADI port.
+   *
+   * ```cpp
+   * auto pot = Potentiometer({1, 'A'});
+   * ```
+   *
+   * @param iports The ports the potentiometer is plugged in to in the order ``{smart port,
+   * potentiometer port}``. The smart port is the smart port number (``[1, 21]``). The potentiometer
+   * port is the ADI port number (``[1, 8]``, ``[a, h]``, ``[A, H]``).
+   */
+  Potentiometer(std::pair<std::uint8_t, std::uint8_t> iports);
+
+  /**
+   * Get the current sensor value.
+   *
+   * @return the current sensor value, or ``PROS_ERR`` on a failure.
+   */
+  virtual double get() const 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 smartPort;
+  std::uint8_t port;
+};
+} // namespace okapi