Codewheel.h

#ifndef __CODEWHEEL_H__
#define __CODEWHEEL_H__
 
#include "NonCopyable.h"
#include "Odometry.h"
 
#include <math.h>

 
class Codewheel : private NonCopyable, public AbstractCodewheel{
public:
 
    Codewheel(TIM_HandleTypeDef *htim);

    long getCounter(){update(); return m_currentCounter;}

    long getCountsPerRev(){return m_countsPerRev;}

    float getWheelRadius(){return m_wheelRadius;}
    
    void setCountsPerRev(long countsPerRev);

    void setWheelRadius (float wheelRadius);

    void reset();

    float getTraveledDistance();

    float restart();
 
    TIM_HandleTypeDef *m_htim;
    TIM_TypeDef *m_tim;
protected:

    void update();
 
    long m_currentCounter; 
    long m_startCounter;
 
    float m_wheelRadius; 
    long m_countsPerRev;   
};
 
#endif // __ROTARYENCODER_H__