custom_encoder.h

#pragma once
 
#include "core/math/units.h"
#include "vex/vex.h"

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

  void setRotation(units::Angle val);

  void setPosition(units::Angle val);

  units::Angle rotation();

  units::Angle position();

  units::AngularVelocity velocity();
 
 private:
  double tick_scalar;
};