.. _program_listing_file_src_LouLib_Odometry_OdomMotorSensor.hpp:

Program Listing for File OdomMotorSensor.hpp
============================================

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

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

.. code-block:: cpp

   
   #ifndef LOULIB_ODOMMOTORSENSOR_HPP
   #define LOULIB_ODOMMOTORSENSOR_HPP
   
   #include "../../../include/api.h"
   #include "../Units/Units.hpp"
   #include "AbstractOdomSensor.hpp"
   
   namespace LouLib {
       namespace Odometry {
   
           class OdomMotorSensor : public AbstractOdomSensor{
           private:
               pros::Motor motor;
               Units::Length wheelDiam;
               double gearRatio;
   
           public:
               OdomMotorSensor(int motorPort, pros::motor_gearset_e_t gearset, bool motorReversed,
                               const Units::Length &wheelDiam);
   
               void setGearRatio(int wheelSide, int sensorSide) override;
   
               Units::Length getPosition() override;
           };
   
       } // LouLib
   } // Odometry
   
   #endif //LOULIB_ODOMMOTORSENSOR_HPP