okapi::RotationSensor class
#include <include/okapi/impl/device/rotarysensor/rotationSensor.hpp>

Contents

Base classes

class ContinuousRotarySensor

Constructors, destructors, conversion operators

RotationSensor(std::uint8_t iport, bool ireversed = false)
A rotation sensor in a V5 port.

Public functions

auto get() const -> double override
Get the current rotation in degrees.
auto reset() -> std::int32_t override
Reset the sensor to zero.
auto controllerGet() -> double override
Get the sensor value for use in a control loop.
auto getVelocity() const -> double
Get the current rotational velocity estimate in degrees per second.

Protected variables

std::uint8_t port
std::int8_t reversed

Function documentation

okapi::RotationSensor::RotationSensor(std::uint8_t iport, bool ireversed = false)

A rotation sensor in a V5 port.

Parameters
iport The V5 port the device uses.
ireversed Whether the sensor is reversed. This will set the reversed state in the kernel. 
auto r = RotationSensor(1);
auto reversedR = RotationSensor(1, true);

double okapi::RotationSensor::get() const override

Get the current rotation in degrees.

Returns The current rotation in degrees or PROS_ERR_F if the operation failed, setting errno.

std::int32_t okapi::RotationSensor::reset() override

Reset the sensor to zero.

Returns 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.

double okapi::RotationSensor::controllerGet() override

Get the sensor value for use in a control loop.

Returns The same as get.

This method might be automatically called in another thread by the controller.

double okapi::RotationSensor::getVelocity() const

Get the current rotational velocity estimate in degrees per second.

Returns The current rotational velocity estimate in degrees per second or PROS_ERR_F if the operation failed, setting errno.