Ben Katz / Hobbyking_Cheetah

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed-dev-f303 FastPWM3

Dependents:   GT_MOTOR_24NM_V03 GT_MOTOR_24NM_V03_PT1000CalTemp

Diff: PositionSensor/PositionSensor.h

Revision:
10:370851e6e132
Parent:
9:d7eb815cb057
Child:
11:c83b18d41e54
--- a/PositionSensor/PositionSensor.h	Tue May 10 01:15:57 2016 +0000
+++ b/PositionSensor/PositionSensor.h	Thu May 12 05:02:52 2016 +0000
@@ -10,7 +10,7 @@
   
 class PositionSensorEncoder: public PositionSensor {
 public:
-    PositionSensorEncoder(int CPR, float offset);
+    PositionSensorEncoder(int CPR, float offset, int ppairs);
     virtual float GetMechPosition();
     virtual float GetElecPosition();
     virtual float GetMechVelocity();
@@ -21,21 +21,21 @@
     //DigitalOut *ZTest;
     virtual void ZeroEncoderCount(void);
     virtual void ZeroEncoderCountDown(void);
-    int _CPR, flag, rotations;
+    int _CPR, flag, rotations, _ppairs;
     //int state;
     float _offset, MechPosition, dir, test_pos, vel_old, out_old;
 };
 
 class PositionSensorSPI: public PositionSensor{
 public:
-    PositionSensorSPI(int CPR, float offset);
+    PositionSensorSPI(int CPR, float offset, int ppairs);
     virtual float GetMechPosition();
     virtual float GetElecPosition();
     virtual float GetMechVelocity();
     virtual void ZeroPosition();
 private:
     float _offset, MechPosition, MechOffset;
-    int _CPR, rotations, old_counts;
+    int _CPR, rotations, old_counts, _ppairs;
     SPI *spi;
     DigitalOut *cs;
 };