AMiRo-OS

#ifndef AMIRO_MOTOR_INCREMENTS_H_

#define AMIRO_MOTOR_INCREMENTS_H_

namespace amiro {

  class MotorIncrements {

    public:

    /**

     * Constructor

     * This only creates the config. To start the qei driver, one needs to call

     * qeiInit() after halInit() in the main process first. Then run this->start().

     *

     * @param qei0 quadrature encoder for left wheel from 'amiro-os/hal/include/qei.h'

     * @param qei0 quadrature encoder for right wheel from 'amiro-os/hal/include/qei.h'

     */

    MotorIncrements(QEIDriver* qei0, QEIDriver* qei1);

    /**

     * Get the encoder position

     *

     * @return position of the encode

     */

    int qeiGetPosition(int idxQei);

    /**

     * Get the range of the qei config

     *

     * @return value of the range of the qei

     */

    int getQeiConfigRange();

    /**

     * Starts the qei driver (First run qeiInit() in the main process)

     */

    void start();

  private:

    QEIDriver* qeiDriver[2];

    QEIConfig qeiConfig;

  };

}

#endif /* AMIRO_MOTOR_INCREMENTS_H_ */