zebra / Mbed 2 deprecated ZebraJointController

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Dependencies:   mbed FastPWM3

Diff: PositionSensor/PositionSensor.h

Revision:
8:10ae7bc88d6e
Parent:
7:dc5f27756e02
Child:
9:d7eb815cb057
--- a/PositionSensor/PositionSensor.h	Tue Mar 29 01:05:46 2016 +0000
+++ b/PositionSensor/PositionSensor.h	Wed Apr 13 04:09:56 2016 +0000
@@ -1,6 +1,5 @@
 #ifndef POSITIONSENSOR_H
 #define POSITIONSENSOR_H
-
 class PositionSensor {
 public:
     virtual float GetMechPosition() {return 0.0f;}
@@ -26,4 +25,15 @@
     float _offset, MechPosition, dir, test_pos;
 };
 
+class PositionSensorSPI: public PositionSensor{
+public:
+    PositionSensorSPI(int CPR, float offset);
+    virtual float GetMechPosition();
+    virtual float GetElecPosition();
+private:
+    float _offset, MechPosition;
+    int _CPR, rotations, old_counts;
+    SPI *spi;
+    DigitalOut *cs;
+};
 #endif
\ No newline at end of file