*

ODrive-fw-v0.5.6/Firmware/MotorControl/timer.hpp

@@ -0,0 +1,42 @@
+#pragma once
+
+#include <algorithm>
+template <class T>
+class Timer {
+   public:
+    void setTimeout(const T timeout) {
+        timeout_ = timeout;
+    }
+
+    void setIncrement(const T increment) {
+        increment_ = increment;
+    }
+
+    void start() {
+        running_ = true;
+    }
+
+    void stop() {
+        running_ = false;
+    }
+
+    // If the timer is started, increment the timer
+    void update() {
+        if (running_)
+            timer_ = std::min<T>(timer_ + increment_, timeout_);
+    }
+
+    void reset() {
+        timer_ = static_cast<T>(0);
+    }
+
+    bool expired() {
+        return timer_ >= timeout_;
+    }
+
+   private:
+    T timer_ = static_cast<T>(0);     // Current state
+    T timeout_ = static_cast<T>(0);   // Time to count
+    T increment_ = static_cast<T>(0);  // Amount to increment each time update() is called
+    bool running_ = false;            // update() only increments if runing_ is true
+};