---

oencoder.h

/* 
Object Oriented Mobile Robot Model (OOMRM) C++  Library Copyright (C) 2002-2005  Derek Jones

This library is free software; you can redistribute it  and/or
modify it under the terms of the GNU Lesser General Public
License  as published by the Free Software Foundation; either
version 2.1 of the  License, or (at your option) any later version.

This library is  distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY;  without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A  PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more  details.

You should have received a copy of the GNU Lesser General  Public
License along with this library; if not, write to the Free  Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA   02111-1307  USA

$Id: oencoder.h,v 1.1 2007/06/10 23:14:58 derek Exp $ 
   Class: oEncoderQuadrature
   Purpose: Implements a quadrature encoder object using the FQD function of TPU
   Author : Derek Jones
   Please send bug reports/enhancements to d.b.jones@verizon.net.
   
   Version: 1.1
   Modificatons:
*/

#ifndef ENCODER_H
#define ENCODER_H
#include <hardware/base/bencoder.h>
#ifdef DOS
#ifdef __cplusplus
using namespace std;

class oEncoder : public bEncoder
{
public:
  oEncoder(IOLINE prim,uint8 subclass=0);               
  oEncoder(bool quad, IOLINE prim, IOLINE sec,uint8 subclass=0);    
  IOLINE primary(void) { return _Pioline; }
  IOLINE secondary(void) { return _Sioline; }
  PRIORITY get_priority(void);
  unsigned short count(void) const;   
  bool operating(void);
  int Label;
  unsigned short invariant_count(void) const;
  void WSwrite(void);
  oEncoder();
};
#endif
#else
typedef bEncoder oEncoder;
#endif

//#include <hardware/oencoder.h>
//typedef oEncoder oDI1_TPU;    // the way it should have been!
#endif

---