+/**
+ * Copyright (c) 2015, www.techhounds.com
+ * All rights reserved.
+ *
+ * <p>
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * </p>
+ * <ul>
+ * <li>Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.</li>
+ * <li>Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.</li>
+ * <li>Neither the name of the www.techhounds.com nor the
+ * names of its contributors may be used to endorse or promote products
+ * derived from this software without specific prior written permission.</li>
+ * </ul>
+ *
+ * <p>
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ * </p>
+ */
+
+package org.usfirst.frc.team3501.robot;
+
+import edu.wpi.first.wpilibj.PIDSource;
+
+/**
+ * A rotation tracker allows you to keep track of how far the robot has rotated
+ * since the object was constructed or zeroed.
+ *
+ * <p>
+ * This object is most useful when you want to turn your robot a particular
+ * number of degrees, or when you want to detect whether your robot is tipping.
+ * </p>
+ *
+ * <p>
+ * You will typically use the {@link #getRotationTracker} method associated with
+ * the gyro class associated with your hardware. For example
+ * {@link GyroItg3200.getRotationTrackerZ()}.
+ * </p>
+ */
+public interface RotationTracker extends PIDSource {
+
+ /**
+ * Returns the angle in signed decimal degrees since construction or zeroing.
+ *
+ * <p>
+ * This value is used as the PID sensor value.
+ * </p>
+ *
+ * @return Number of degrees the robot has rotated in the range of [-INF,
+ * +INF]. Positive values indicate clockwise rotation (720 means it
+ * has spun around twice and is facing the same direction).
+ */
+ public double getAngle();
+
+ /**
+ * Zeros the rotation tracker so the current direction we are pointing now
+ * becomes the zero point.
+ */
+ public void zero();
+
+}