Diff: PositionSensor/PositionSensor.h

Revision:

23:db1263aae417

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PositionSensor/PositionSensor.h	Thu Nov 02 22:28:25 2017 +0000
@@ -0,0 +1,65 @@
+#ifndef POSITIONSENSOR_H
+#define POSITIONSENSOR_H
+class PositionSensor {
+public:
+    virtual float GetMechPosition() {return 0.0f;}
+    virtual float GetElecPosition() {return 0.0f;}
+    virtual float GetMechVelocity() {return 0.0f;}
+    virtual float GetElecVelocity() {return 0.0f;}
+};
+  
+  
+class PositionSensorEncoder: public PositionSensor {
+public:
+    PositionSensorEncoder(int CPR, float offset, int ppairs);
+    virtual void Sample();
+    virtual float GetMechPosition();
+    virtual float GetElecPosition();
+    virtual float GetMechVelocity();
+    virtual float GetElecVelocity();
+private:
+    InterruptIn *ZPulse;
+    DigitalIn *ZSense;
+    //DigitalOut *ZTest;
+    virtual void ZeroEncoderCount(void);
+    virtual void ZeroEncoderCountDown(void);
+    int _CPR, flag, rotations, _ppairs;
+    //int state;
+    float _offset, MechPosition, MechOffset, dir, test_pos, oldVel, out_old, velVec[16];
+};
+
+class PositionSensorMA700: public PositionSensor{
+public:
+    PositionSensorMA700(int CPR, float offset, int ppairs);
+    virtual void Sample();
+    virtual float GetMechPosition();
+    virtual float GetElecPosition();
+    virtual float GetMechVelocity();
+    virtual int GetRawPosition();
+    virtual void ZeroPosition();
+private:
+    float _offset, MechPosition, MechOffset;
+    int _CPR, rotations, old_counts, _ppairs;
+    SPI *spi;
+    DigitalOut *cs;
+};
+
+class PositionSensorAM5147: public PositionSensor{
+public:
+    PositionSensorAM5147(int CPR, float offset, int ppairs);
+    virtual void Sample();
+    virtual float GetMechPosition();
+    virtual float GetElecPosition();
+    virtual float GetMechVelocity();
+    virtual int GetRawPosition();
+    virtual void ZeroPosition();
+private:
+    float position, ElecPosition, ElecOffset, MechPosition, MechOffset, modPosition, oldModPosition, oldVel, velVec[16], MechVelocity, ElecVelocity;
+    int raw, _CPR, rotations, old_counts, _ppairs;
+    SPI *spi;
+    DigitalOut *cs;
+    int readAngleCmd;
+
+};
+
+#endif
\ No newline at end of file