.. _program_listing_file_src_LouLib_Odometry_OdomMotorSensor.cpp:

Program Listing for File OdomMotorSensor.cpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_LouLib_Odometry_OdomMotorSensor.cpp>` (``src/LouLib/Odometry/OdomMotorSensor.cpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   #include "OdomMotorSensor.hpp"
   
   namespace LouLib {
       namespace Odometry {
   
           OdomMotorSensor::OdomMotorSensor(int motorPort, pros::motor_gearset_e_t gearset, bool motorReversed,
                           const Units::Length &wheelDiam) : motor(motorPort, gearset, motorReversed,
                                   pros::E_MOTOR_ENCODER_DEGREES), wheelDiam(wheelDiam){
               gearRatio = 1;
           }
   
           void OdomMotorSensor::setGearRatio(int wheelSide, int sensorSide) {
               gearRatio = (double)wheelSide/(double)sensorSide;
           }
   
           Units::Length OdomMotorSensor::getPosition() {
               Units::Angle drivingRotation = motor.get_position() * Units::DEGREE;
               Units::Angle drivenRotation = drivingRotation / gearRatio;
               return drivenRotation.to(Units::RADIAN) * (wheelDiam/2.0);
           }
       } // LouLib
   } // Odometry