Ben Katz
/
Hobbyking_Cheetah_V1
FOC Implementation for putting multirotor motors in robots
Diff: PositionSensor/PositionSensor.h
- Revision:
- 0:4e1c4df6aabd
- Child:
- 1:b8bceb4daed5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PositionSensor/PositionSensor.h Fri Feb 05 00:52:53 2016 +0000 @@ -0,0 +1,26 @@ +#ifndef POSITIONSENSOR_H +#define POSITIONSENSOR_H + +class PositionSensor { +public: + virtual float GetMechPosition() {return 0.0f;} + virtual float GetElecPosition() {return 0.0f;} +}; + + +class PositionSensorEncoder: public PositionSensor { +public: + PositionSensorEncoder(int CPR, float offset); + virtual float GetMechPosition(); + virtual float GetElecPosition(); +private: + InterruptIn *ZPulse; + DigitalIn *ZSense; + DigitalOut *ZTest; + virtual void ZeroEncoderCount(void); + int _CPR; + int state; + float _offset; +}; + +#endif \ No newline at end of file