From 128ae3935cf6b243882a7d29cc7564c893bf7b97 Mon Sep 17 00:00:00 2001
From: Unknown <pfguenette@gmail.com>
Date: Sat, 28 Mar 2020 00:15:21 -0400
Subject: [PATCH] Make Timer generic, add comments

---
 Firmware/MotorControl/endstop.hpp |  2 +-
 Firmware/MotorControl/timer.hpp   | 15 ++++++++-------
 Firmware/Tests/test_timer.cpp     |  2 +-
 3 files changed, 10 insertions(+), 9 deletions(-)

diff --git a/Firmware/MotorControl/endstop.hpp b/Firmware/MotorControl/endstop.hpp
index 02f116b7..7c7fa8b4 100644
--- a/Firmware/MotorControl/endstop.hpp
+++ b/Firmware/MotorControl/endstop.hpp
@@ -44,6 +44,6 @@ class Endstop {
    private:
     bool pin_state_                = false;
     float pos_when_pressed_        = 0.0f;
-    Timer debounceTimer_;
+    Timer<float> debounceTimer_;
 };
 #endif
\ No newline at end of file
diff --git a/Firmware/MotorControl/timer.hpp b/Firmware/MotorControl/timer.hpp
index e1b6b0b0..a5e571cf 100644
--- a/Firmware/MotorControl/timer.hpp
+++ b/Firmware/MotorControl/timer.hpp
@@ -1,13 +1,14 @@
 #pragma once
 
 #include <algorithm>
+template <class T>
 class Timer {
    public:
-    void setTimeout(const float timeout) {
+    void setTimeout(const T timeout) {
         timeout_ = timeout;
     }
 
-    void setInterval(const float interval) {
+    void setInterval(const T interval) {
         interval_ = interval;
     }
 
@@ -25,7 +26,7 @@ class Timer {
     }
 
     void reset() {
-        timer_ = 0.0f;
+        timer_ = static_cast<T>(0);
     }
 
     bool expired() {
@@ -33,8 +34,8 @@ class Timer {
     }
 
    private:
-    float timer_ = 0.0f;
-    float timeout_ = 0.0f;
-    float interval_ = 0.0f;
-    bool running_ = false;
+    T timer_ = static_cast<T>(0);     // Current state
+    T timeout_ = static_cast<T>(0);   // Time before
+    T interval_ = static_cast<T>(0);  // Amount to increment each time update() is called
+    bool running_ = false;            // update() only increments if runing_ is true
 };
diff --git a/Firmware/Tests/test_timer.cpp b/Firmware/Tests/test_timer.cpp
index bd34b7c6..7d65ccb2 100644
--- a/Firmware/Tests/test_timer.cpp
+++ b/Firmware/Tests/test_timer.cpp
@@ -3,7 +3,7 @@
 #include "MotorControl/timer.hpp"
 
 TEST_CASE("Timer"){
-    Timer myTimer;
+    Timer<int> myTimer;
     myTimer.setTimeout(10);
     myTimer.setInterval(1);
     CHECK(!myTimer.expired());