PositionSensor.h

00001 #ifndef POSITIONSENSOR_H
00002 #define POSITIONSENSOR_H
00003 class PositionSensor {
00004 public:
00005     virtual float GetMechPosition() {return 0.0f;}
00006     virtual float GetElecPosition() {return 0.0f;}
00007     virtual float GetMechVelocity() {return 0.0f;}
00008     virtual float GetElecVelocity() {return 0.0f;}
00009 };
00010   
00011   
00012 class PositionSensorEncoder: public PositionSensor {
00013 public:
00014     PositionSensorEncoder(int CPR, float offset, int ppairs);
00015     virtual void Sample();
00016     virtual float GetMechPosition();
00017     virtual float GetElecPosition();
00018     virtual float GetMechVelocity();
00019     virtual float GetElecVelocity();
00020 private:
00021     InterruptIn *ZPulse;
00022     DigitalIn *ZSense;
00023     //DigitalOut *ZTest;
00024     virtual void ZeroEncoderCount(void);
00025     virtual void ZeroEncoderCountDown(void);
00026     int _CPR, flag, rotations, _ppairs;
00027     //int state;
00028     float _offset, MechPosition, MechOffset, dir, test_pos, oldVel, out_old, velVec[16];
00029 };
00030 
00031 class PositionSensorMA700: public PositionSensor{
00032 public:
00033     PositionSensorMA700(int CPR, float offset, int ppairs);
00034     virtual void Sample();
00035     virtual float GetMechPosition();
00036     virtual float GetElecPosition();
00037     virtual float GetMechVelocity();
00038     virtual int GetRawPosition();
00039     virtual void ZeroPosition();
00040 private:
00041     float _offset, MechPosition, MechOffset;
00042     int _CPR, rotations, old_counts, _ppairs;
00043     SPI *spi;
00044     DigitalOut *cs;
00045 };
00046 
00047 class PositionSensorAM5147: public PositionSensor{
00048 public:
00049     PositionSensorAM5147(int CPR, float offset, int ppairs);
00050     virtual void Sample();
00051     virtual float GetMechPosition();
00052     virtual float GetElecPosition();
00053     virtual float GetMechVelocity();
00054     virtual int GetRawPosition();
00055     virtual void ZeroPosition();
00056 private:
00057     float position, ElecPosition, ElecOffset, MechPosition, MechOffset, modPosition, oldModPosition, oldVel, velVec[16], MechVelocity, ElecVelocity;
00058     int raw, _CPR, rotations, old_counts, _ppairs;
00059     SPI *spi;
00060     DigitalOut *cs;
00061     int readAngleCmd;
00062 
00063 };
00064 
00065 #endif