Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol
Dependencies: mbed-dev-f303 FastPWM3
Superseded by: https://github.com/bgkatz/motorcontrol
Diff: PositionSensor/PositionSensor.h
- Revision:
- 52:8e74c22ed89f
- Parent:
- 47:e1196a851f76
--- a/PositionSensor/PositionSensor.h Wed Jul 17 03:40:12 2019 +0000 +++ b/PositionSensor/PositionSensor.h Sun Jul 21 21:42:49 2019 +0000 @@ -12,7 +12,8 @@ virtual int GetRawPosition(void) = 0; virtual void SetElecOffset(float offset) = 0; virtual int GetCPR(void) = 0; - virtual void WriteLUT(int new_lut[128]) = 0; + virtual void WriteLUT(int new_lut[128]) = 0; + virtual void SetNPP(int npp) = 0; }; @@ -56,6 +57,7 @@ virtual void SetMechOffset(float offset); virtual int GetCPR(void); virtual void WriteLUT(int new_lut[128]); + virtual void SetNPP(int npp); private: float position, ElecPosition, ElecOffset, MechPosition, MechOffset, modPosition, oldModPosition, oldVel, velVec[40], MechVelocity, ElecVelocity, ElecVelocityFilt; int raw, _CPR, rotations, old_counts, _ppairs;