RelativeEncoder.h

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/*
 * Copyright (c) 2021-2026 REV Robotics
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#pragma once
 
#include "rev/REVLibError.h"
#include "rev/util/Signal.h"
 
namespace rev {
 
class RelativeEncoder {
public:
    virtual ~RelativeEncoder() = default;
 
    virtual util::Signal<double> GetPosition() const = 0;
 
    virtual util::Signal<double> GetVelocity() const = 0;
 
    virtual REVLibError SetPosition(double position) = 0;
};
 
}  // namespace rev