custom_encoder.h

#pragma once
#include "vex.h"

class CustomEncoder : public vex::encoder {
  typedef vex::encoder super;
 
public:
  CustomEncoder(vex::triport::port &port, double ticks_per_rev);

  void setRotation(double val, vex::rotationUnits units);

  void setPosition(double val, vex::rotationUnits units);

  double rotation(vex::rotationUnits units);

  double position(vex::rotationUnits units);

  double velocity(vex::velocityUnits units);
 
private:
  double tick_scalar;
};