Ben Katz / Mbed 2 deprecated Hobbyking_Cheetah_V1

FOC Implementation for putting multirotor motors in robots

Dependencies:   FastPWM3 mbed

PositionSensor/PositionSensor.h

Committer:
benkatz
Date:
2016-03-29
Revision:
7:dc5f27756e02
Parent:
3:6a0015d88d06
Child:
8:10ae7bc88d6e

File content as of revision 7:dc5f27756e02:

#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();
    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;
    //int state;
    float _offset, MechPosition, dir, test_pos;
};

#endif