Winnie Liu / Hobbyking_Cheetah_modify1105

hobbyking_cheetah source code modified 2020/12/15

Dependencies:   mbed-dev-f303 FastPWM3

PositionSensor/PositionSensor.h@7:dc5f27756e02, 2016-03-29 (annotated)

Committer:
benkatz
Date:
Tue Mar 29 01:05:46 2016 +0000
Revision:
7:dc5f27756e02
Parent:
3:6a0015d88d06
Child:
8:10ae7bc88d6e
propper svm;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 0:4e1c4df6aabd 1 #ifndef POSITIONSENSOR_H
benkatz 0:4e1c4df6aabd 2 #define POSITIONSENSOR_H
benkatz 0:4e1c4df6aabd 3
benkatz 0:4e1c4df6aabd 4 class PositionSensor {
benkatz 0:4e1c4df6aabd 5 public:
benkatz 0:4e1c4df6aabd 6 virtual float GetMechPosition() {return 0.0f;}
benkatz 0:4e1c4df6aabd 7 virtual float GetElecPosition() {return 0.0f;}
benkatz 0:4e1c4df6aabd 8 };
benkatz 0:4e1c4df6aabd 9
benkatz 0:4e1c4df6aabd 10
benkatz 0:4e1c4df6aabd 11 class PositionSensorEncoder: public PositionSensor {
benkatz 0:4e1c4df6aabd 12 public:
benkatz 0:4e1c4df6aabd 13 PositionSensorEncoder(int CPR, float offset);
benkatz 0:4e1c4df6aabd 14 virtual float GetMechPosition();
benkatz 0:4e1c4df6aabd 15 virtual float GetElecPosition();
benkatz 3:6a0015d88d06 16 virtual float GetMechVelocity();
benkatz 3:6a0015d88d06 17 virtual float GetElecVelocity();
benkatz 0:4e1c4df6aabd 18 private:
benkatz 0:4e1c4df6aabd 19 InterruptIn *ZPulse;
benkatz 0:4e1c4df6aabd 20 DigitalIn *ZSense;
benkatz 1:b8bceb4daed5 21 //DigitalOut *ZTest;
benkatz 0:4e1c4df6aabd 22 virtual void ZeroEncoderCount(void);
benkatz 7:dc5f27756e02 23 virtual void ZeroEncoderCountDown(void);
benkatz 7:dc5f27756e02 24 int _CPR, flag, rotations;
benkatz 1:b8bceb4daed5 25 //int state;
benkatz 7:dc5f27756e02 26 float _offset, MechPosition, dir, test_pos;
benkatz 0:4e1c4df6aabd 27 };
benkatz 0:4e1c4df6aabd 28
benkatz 0:4e1c4df6aabd 29 #endif