Ikhee Jo / T-Motor_AK80_BaseCode

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Dependencies:   mbed-dev-f303 FastPWM3

Diff: PositionSensor/PositionSensor.h

Revision:
47:e1196a851f76
Parent:
38:67e4e1453a4b
Child:
52:8e74c22ed89f
Child:
56:fe5056ac6740
--- a/PositionSensor/PositionSensor.h	Thu Jul 12 02:50:34 2018 +0000
+++ b/PositionSensor/PositionSensor.h	Wed Dec 05 04:07:46 2018 +0000
@@ -2,7 +2,7 @@
 #define POSITIONSENSOR_H
 class PositionSensor {
 public:
-    virtual void Sample(void) = 0;
+    virtual void Sample(float dt) = 0;
     virtual float GetMechPosition() {return 0.0f;}
     virtual float GetMechPositionFixed() {return 0.0f;}
     virtual float GetElecPosition() {return 0.0f;}
@@ -19,7 +19,7 @@
 class PositionSensorEncoder: public PositionSensor {
 public:
     PositionSensorEncoder(int CPR, float offset, int ppairs);
-    virtual void Sample();
+    virtual void Sample(float dt);
     virtual float GetMechPosition();
     virtual float GetElecPosition();
     virtual float GetMechVelocity();
@@ -44,7 +44,7 @@
 class PositionSensorAM5147: public PositionSensor{
 public:
     PositionSensorAM5147(int CPR, float offset, int ppairs);
-    virtual void Sample();
+    virtual void Sample(float dt);
     virtual float GetMechPosition();
     virtual float GetMechPositionFixed();
     virtual float GetElecPosition();