Ben Katz / Mbed 2 deprecated Hobbyking_Cheetah_V1

FOC Implementation for putting multirotor motors in robots

Dependencies:   FastPWM3 mbed

PositionSensor/PositionSensor.h@3:6a0015d88d06, 2016-03-09 (annotated)

Committer:
benkatz
Date:
Wed Mar 09 04:00:48 2016 +0000
Revision:
3:6a0015d88d06
Parent:
1:b8bceb4daed5
Child:
7:dc5f27756e02
more motter;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 0:4e1c4df6aabd 1 #ifndef POSITIONSENSOR_H
benkatz 0:4e1c4df6aabd 2 #define POSITIONSENSOR_H
benkatz 0:4e1c4df6aabd 3
benkatz 0:4e1c4df6aabd 4 class PositionSensor {
benkatz 0:4e1c4df6aabd 5 public:
benkatz 0:4e1c4df6aabd 6 virtual float GetMechPosition() {return 0.0f;}
benkatz 0:4e1c4df6aabd 7 virtual float GetElecPosition() {return 0.0f;}
benkatz 0:4e1c4df6aabd 8 };
benkatz 0:4e1c4df6aabd 9
benkatz 0:4e1c4df6aabd 10
benkatz 0:4e1c4df6aabd 11 class PositionSensorEncoder: public PositionSensor {
benkatz 0:4e1c4df6aabd 12 public:
benkatz 0:4e1c4df6aabd 13 PositionSensorEncoder(int CPR, float offset);
benkatz 0:4e1c4df6aabd 14 virtual float GetMechPosition();
benkatz 0:4e1c4df6aabd 15 virtual float GetElecPosition();
benkatz 3:6a0015d88d06 16 virtual float GetMechVelocity();
benkatz 3:6a0015d88d06 17 virtual float GetElecVelocity();
benkatz 0:4e1c4df6aabd 18 private:
benkatz 0:4e1c4df6aabd 19 InterruptIn *ZPulse;
benkatz 0:4e1c4df6aabd 20 DigitalIn *ZSense;
benkatz 1:b8bceb4daed5 21 //DigitalOut *ZTest;
benkatz 0:4e1c4df6aabd 22 virtual void ZeroEncoderCount(void);
benkatz 0:4e1c4df6aabd 23 int _CPR;
benkatz 1:b8bceb4daed5 24 //int state;
benkatz 3:6a0015d88d06 25 float _offset, MechPosition;
benkatz 0:4e1c4df6aabd 26 };
benkatz 0:4e1c4df6aabd 27
benkatz 0:4e1c4df6aabd 28 #endif