File content as of revision 47:f4ecf3e0576a:

#ifndef POSITIONSENSOR_H
#define POSITIONSENSOR_H
class PositionSensor {
public:
    virtual void Sample(float dt) = 0;
    virtual float GetMechPosition() {return 0.0f;}
    virtual float GetMechPositionFixed() {return 0.0f;}
    virtual float GetElecPosition() {return 0.0f;}
    virtual float GetMechVelocity() {return 0.0f;}
    virtual float GetElecVelocity() {return 0.0f;}
    virtual void ZeroPosition(void) = 0;
    virtual int GetRawPosition(void) = 0;
    virtual void SetElecOffset(float offset) = 0;
    virtual int GetCPR(void) = 0;
    virtual  void WriteLUT(int new_lut[128]) = 0;
};
  
  
//class PositionSensorEncoder: public PositionSensor {
//public:
//    PositionSensorEncoder(int CPR, float offset, int ppairs);
//    virtual void Sample(float dt);
//    virtual float GetMechPosition();
//    virtual float GetElecPosition();
//    virtual float GetMechVelocity();
//    virtual float GetElecVelocity();
//    virtual void ZeroPosition(void);
//    virtual void SetElecOffset(float offset);
//    virtual int GetRawPosition(void);
//    virtual int GetCPR(void);
//    virtual  void WriteLUT(int new_lut[128]); 
//private:
//    InterruptIn *ZPulse;
//    DigitalIn *ZSense;
//    //DigitalOut *ZTest;
//    virtual void ZeroEncoderCount(void);
//    virtual void ZeroEncoderCountDown(void);
//    int _CPR, flag, rotations, _ppairs, raw;
//    //int state;
//    float _offset, MechPosition, MechOffset, dir, test_pos, oldVel, out_old, velVec[40];
//    int offset_lut[128];
//};

class PositionSensorAM5147: public PositionSensor{
public:
    PositionSensorAM5147(int CPR, float offset, int ppairs);
    virtual void Sample(float dt);
    virtual float GetMechPosition();
    virtual float GetMechPositionFixed();
    virtual float GetElecPosition();
    virtual float GetMechVelocity();
    virtual float GetElecVelocity();
    virtual int GetRawPosition();
    virtual void ZeroPosition();
    virtual void SetElecOffset(float offset);
    virtual void SetMechOffset(float offset);
    virtual int GetCPR(void);
    virtual void WriteLUT(int new_lut[128]);
private:
    float position, ElecPosition, ElecOffset, MechPosition, MechOffset, modPosition, oldModPosition, oldVel, velVec[40], MechVelocity, ElecVelocity, ElecVelocityFilt;
    int raw, _CPR, rotations, old_counts, _ppairs;
    bool flag_first_time;   // avoid the first time angle - old_counts
    SPI *spi;
    DigitalOut *cs;
    int readAngleCmd;
    int offset_lut[128];

};

#endif