zebra / Mbed 2 deprecated ZebraJointController

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Dependencies:   mbed FastPWM3

Diff: PositionSensor/PositionSensor.h

Revision:
14:80ce59119d93
Parent:
13:a3fa0a31b114
Child:
20:bf9ea5125d52
--- a/PositionSensor/PositionSensor.h	Sun May 22 03:47:40 2016 +0000
+++ b/PositionSensor/PositionSensor.h	Mon Oct 31 16:48:16 2016 +0000
@@ -27,9 +27,9 @@
     float _offset, MechPosition, dir, test_pos, vel_old, out_old;
 };
 
-class PositionSensorSPI: public PositionSensor{
+class PositionSensorMA700: public PositionSensor{
 public:
-    PositionSensorSPI(int CPR, float offset, int ppairs);
+    PositionSensorMA700(int CPR, float offset, int ppairs);
     virtual float GetMechPosition();
     virtual float GetElecPosition();
     virtual float GetMechVelocity();
@@ -41,4 +41,21 @@
     SPI *spi;
     DigitalOut *cs;
 };
+
+class PositionSensorAM5147: public PositionSensor{
+public:
+    PositionSensorAM5147(int CPR, float offset, int ppairs);
+    virtual float GetMechPosition();
+    virtual float GetElecPosition();
+    virtual float GetMechVelocity();
+    virtual int GetRawPosition();
+    virtual void ZeroPosition();
+private:
+    float _offset, MechPosition, MechOffset;
+    int _CPR, rotations, old_counts, _ppairs;
+    SPI *spi;
+    DigitalOut *cs;
+    int readAngleCmd;
+
+};
 #endif
\ No newline at end of file