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BCG
35 lines
752 B
Go
35 lines
752 B
Go
package encoders
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type QuadratureDevice struct {
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cfg QuadratureConfig
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impl quadratureImpl
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}
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type QuadratureConfig struct {
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Precision int
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}
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type quadratureImpl interface {
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configure(cfg QuadratureConfig) error
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readValue() int
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writeValue(int)
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}
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func (enc *QuadratureDevice) Configure(cfg QuadratureConfig) error {
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if cfg.Precision < 1 {
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cfg.Precision = 4
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}
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enc.cfg = cfg
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return enc.impl.configure(cfg)
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}
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// Position returns the stored int value for the encoder
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func (enc *QuadratureDevice) Position() int {
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return enc.impl.readValue() / enc.cfg.Precision
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}
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// SetPosition overwrites the currently stored value with the specified int value
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func (enc *QuadratureDevice) SetPosition(v int) {
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enc.impl.writeValue(v * enc.cfg.Precision)
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}
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