.. _program_listing_file_src_LouLib_Odometry_OdomRotationSensor.cpp:

Program Listing for File OdomRotationSensor.cpp
===============================================

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

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

.. code-block:: cpp

   
   #include "OdomRotationSensor.hpp"
   
   
   LouLib::Odometry::OdomRotationSensor::OdomRotationSensor(int port, bool reversed,
           const LouLib::Units::Length &wheelDiam) : rotationSensor(port, reversed), wheelDiam(wheelDiam){
       gearRatio = 1;
       rotationSensor.reset_position();
   }
   
   void LouLib::Odometry::OdomRotationSensor::setGearRatio(int wheelSide, int sensorSide) {
       gearRatio = (double)wheelSide/(double)sensorSide;
   }
   
   LouLib::Units::Length LouLib::Odometry::OdomRotationSensor::getPosition() {
       Units::Angle drivingRotation = rotationSensor.get_position() * Units::CENTIDEGREE;
       Units::Angle drivenRotation = drivingRotation / gearRatio;
       return drivenRotation.to(Units::RADIAN) * (wheelDiam/2.0);
   }