<commit_before>#ifndef ENCODER_H
#define ENCODER_H

#include <cstdint>
#include "hal.h"

namespace hardware {

class Encoder {
 public:
  Encoder(stm32_tim_t * timer, uint16_t counts_per_revolution);
  float get_angle() const;
  void set_count(uint32_t count);
  uint32_t get_count() const;

 private:
  stm32_tim_t * const timer_;
  const float rad_per_count_;
};

} // namespace hardware

#endif
<commit_msg>Add getter for rad_per_count.<commit_after>#ifndef ENCODER_H
#define ENCODER_H

#include <cstdint>
#include "hal.h"

namespace hardware {

class Encoder {
 public:
  Encoder(stm32_tim_t * timer, uint16_t counts_per_revolution);
  float get_angle() const;
  void set_count(uint32_t count);
  uint32_t get_count() const;
  float get_rad_per_count() const { return rad_per_count_; }

 private:
  stm32_tim_t * const timer_;
  const float rad_per_count_;
};

} // namespace hardware

#endif

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