zhang boie / Mbed 2 deprecated Hobbyking_Cheetah_Compact_DRV8323-6-17

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Dependencies:   mbed FastPWM3

PositionSensor/PositionSensor.h

Committer:
benkatz
Date:
2016-03-09
Revision:
3:6a0015d88d06
Parent:
1:b8bceb4daed5
Child:
7:dc5f27756e02

File content as of revision 3:6a0015d88d06:

#ifndef POSITIONSENSOR_H
#define POSITIONSENSOR_H

class PositionSensor {
public:
    virtual float GetMechPosition() {return 0.0f;}
    virtual float GetElecPosition() {return 0.0f;}
};
  
  
class PositionSensorEncoder: public PositionSensor {
public:
    PositionSensorEncoder(int CPR, float offset);
    virtual float GetMechPosition();
    virtual float GetElecPosition();
    virtual float GetMechVelocity();
    virtual float GetElecVelocity();
private:
    InterruptIn *ZPulse;
    DigitalIn *ZSense;
    //DigitalOut *ZTest;
    virtual void ZeroEncoderCount(void);
    int _CPR;
    //int state;
    float _offset, MechPosition;
};

#endif