compAIR/compLIB
compAIR/compLIB
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root 2022-05-16 22:47:22 +01:00
parent 1fc400c695
commit 4d5c26d10c
4 changed files with 46 additions and 10 deletions
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19
server/include/encoder.hpp
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@ -3,12 +3,29 @@
#include <vector>
#include <cstdint>
#include <chrono>
#define ENCODER_COUNT 4
#define ENCODER_CACHE_DURATION_MS 4 // 200 HZ
class Encoder {
public:
static std::vector<int32_t> read_all();
std::vector<int32_t> read_all();
std::vector<int32_t> read_all_cached();
static Encoder& get_instance()
{
static Encoder instance;
return instance;
}
Encoder(Encoder const&) = delete;
void operator=(Encoder const&) = delete;
private:
Encoder();
int32_t encoder_cache[ENCODER_COUNT] = {0};
std::chrono::time_point<std::chrono::system_clock> last_read = std::chrono::system_clock::now();
};
#endif // COMPLIB_SERVER_ENCODER_HPP