Diff: PositionSensor/PositionSensor.h

Revision:

9:d7eb815cb057

Parent:

8:10ae7bc88d6e

Child:

10:370851e6e132

diff -r 10ae7bc88d6e -r d7eb815cb057 PositionSensor/PositionSensor.h
--- a/PositionSensor/PositionSensor.h	Wed Apr 13 04:09:56 2016 +0000
+++ b/PositionSensor/PositionSensor.h	Tue May 10 01:15:57 2016 +0000
@@ -4,6 +4,7 @@
 public:
     virtual float GetMechPosition() {return 0.0f;}
     virtual float GetElecPosition() {return 0.0f;}
+    virtual float GetMechVelocity() {return 0.0f;}
 };
   
   
@@ -22,7 +23,7 @@
     virtual void ZeroEncoderCountDown(void);
     int _CPR, flag, rotations;
     //int state;
-    float _offset, MechPosition, dir, test_pos;
+    float _offset, MechPosition, dir, test_pos, vel_old, out_old;
 };
 
 class PositionSensorSPI: public PositionSensor{
@@ -30,8 +31,10 @@
     PositionSensorSPI(int CPR, float offset);
     virtual float GetMechPosition();
     virtual float GetElecPosition();
+    virtual float GetMechVelocity();
+    virtual void ZeroPosition();
 private:
-    float _offset, MechPosition;
+    float _offset, MechPosition, MechOffset;
     int _CPR, rotations, old_counts;
     SPI *spi;
     DigitalOut *cs;