encoder_driver.h

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//\Author Kai Franke, Robert Bosch LLC

#ifndef ENCODER_Driver_H_
#define ENCODER_Driver_H_

// ROS headers for debugging output
#include <ros/console.h>
#include <bosch_drivers_common.hpp>
#include <bosch_drivers_sensor_driver.hpp>
#include <bosch_drivers_hardware_interface.hpp>

using namespace bosch_drivers_common;

class EncoderDriver: public sensor_driver
{

public:
  EncoderDriver( bosch_hardware_interface* hw, uint8_t encoder1_pin, uint8_t encoder2_pin );
  
  EncoderDriver( bosch_hardware_interface* hw, uint8_t encoder_id );
 
  // Destructor:
  ~EncoderDriver();

  // Public Driver Methods:
  uint8_t getDeviceAddress( void ); 

        bool setPosition( int32_t position );
        
        int64_t getPosition();

  bool initialize();
  
  uint8_t getEncoderID();
  
  void invertOutput();
    
private:
  
  uint8_t _encoder1_pin;
  uint8_t _encoder2_pin;
  uint8_t _encoder_id;
  int64_t _overflow;
  int32_t _last_position;
  int invert_;
};

#endif // ENCODER_Driver_H_