[wombat] add default reduction value (#43)

Resolves #40
CurtinFRC · Jan 1, 2024 · 5acd73b · 5acd73b
1 parent 8bdbfd7
commit 5acd73b
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Showing 2 changed files with 8 additions and 4 deletions.
diff --git a/wombat/src/main/cpp/utils/Encoder.cpp b/wombat/src/main/cpp/utils/Encoder.cpp
@@ -4,6 +4,12 @@
 
 #include "utils/Encoder.h"
 
+wom::utils::Encoder::Encoder(double encoderTicksPerRotation, int type,
+                             double reduction)
+    : _reduction(reduction),
+      _encoderTicksPerRotation(encoderTicksPerRotation),
+      _type(type) {}
+
 double wom::utils::Encoder::GetEncoderTicks() const {
   return GetEncoderRawTicks();
 }

diff --git a/wombat/src/main/include/utils/Encoder.h b/wombat/src/main/include/utils/Encoder.h
@@ -15,10 +15,8 @@ namespace wom {
 namespace utils {
 class Encoder {
  public:
-  Encoder(double encoderTicksPerRotation, double reduction, int type)
-      : _reduction(reduction),
-        _encoderTicksPerRotation(encoderTicksPerRotation),
-        _type(type) {}
+  Encoder(double encoderTicksPerRotation, int type, double reduction = 1.0);
+
   virtual double GetEncoderRawTicks() const = 0;
   virtual double GetEncoderTickVelocity() const = 0;  // ticks/s
   virtual void ZeroEncoder();