RelativeEncoder.h

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/*
 * Copyright (c) 2021-2024 REV Robotics
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 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
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 * 3. Neither the name of REV Robotics nor the names of its
 *    contributors may be used to endorse or promote products derived from
 *    this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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 */
 
#pragma once
 
#ifdef _MSC_VER
// Disable deprecation warnings for this file when using VS compiler
#pragma warning(disable : 4996)
#endif
 
#ifdef __GNUC__
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated"
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
 
namespace rev {
 
namespace spark {
class SparkMaxAlternateEncoder;
class SparkRelativeEncoder;
class SparkFlexExternalEncoder;
}  // namespace spark
 
class RelativeEncoder {
    // Friend to allow construction
    friend class spark::SparkMaxAlternateEncoder;
    friend class spark::SparkRelativeEncoder;
    friend class spark::SparkFlexExternalEncoder;
 
public:
    virtual ~RelativeEncoder() {}
 
    virtual double GetPosition() const = 0;
 
    virtual double GetVelocity() const = 0;
 
    virtual REVLibError SetPosition(double position) = 0;
 
private:
    RelativeEncoder() {}
};
}  // namespace rev
 
#ifdef __GNUC__
#pragma GCC diagnostic pop
#endif