RAGearToothSensor.cpp

/*****************************************************************************
 * RAGearToothSensor.h -- Red Alert Gear Tooth Sensor
 * 
 *****************************************************************************/
#include "RAGearToothSensor.h"

RAGearToothSensor::RAGearToothSensor(int channel, bool reverse,int teeth_per_rev, float dist_per_rev)
	: m_counter(new Counter(channel)),
	  m_teeth_per_rev(teeth_per_rev),
	  m_reverse(reverse),
	  m_distance_per_rev(dist_per_rev)
{
	m_counter->SetPulseLengthMode(7e-5);
}

RAGearToothSensor::RAGearToothSensor(int slot, int channel, bool reverse, int teeth_per_rev, float dist_per_rev)
	: m_counter(new Counter(channel)),
	  m_teeth_per_rev(teeth_per_rev),
	  m_distance_per_rev(dist_per_rev)
{
	m_counter->SetPulseLengthMode(7e-5);
}

RAGearToothSensor::~RAGearToothSensor()
{
	delete m_counter;
}

INT32 RAGearToothSensor::Get()
{
	int sign = m_reverse ? -1 : +1;
	return m_counter->Get() * sign;
}

void RAGearToothSensor::Start()
{
	m_counter->Start();
}
void RAGearToothSensor::Reset()
{
	m_counter->Reset();
}
void RAGearToothSensor::Stop()
{
	m_counter->Stop();
}

double RAGearToothSensor::GetRevolutions()
{
	return static_cast<double>(Get()) /
			static_cast<double>(m_teeth_per_rev);
}

double RAGearToothSensor::GetDistance()
{
	return GetRevolutions() * m_distance_per_rev;
}

double RAGearToothSensor::PIDGet()
{
	return GetDistance();
}