Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

PositionSensor/PositionSensor.h@0:bac9c3a3a6ca, 2016-03-09 (annotated)

Committer:
bwang
Date:
Wed Mar 09 06:44:51 2016 +0000
Revision:
0:bac9c3a3a6ca
Child:
5:efd3838b79a6
Child:
8:70122bad5f90
Child:
9:074575151e4b
open loop, working; motor draws ~400mA at 30V; pre-center aligned PWM

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 0:bac9c3a3a6ca 1 #ifndef POSITIONSENSOR_H
bwang 0:bac9c3a3a6ca 2 #define POSITIONSENSOR_H
bwang 0:bac9c3a3a6ca 3
bwang 0:bac9c3a3a6ca 4 class PositionSensor {
bwang 0:bac9c3a3a6ca 5 public:
bwang 0:bac9c3a3a6ca 6 virtual float GetMechPosition() {return 0.0f;}
bwang 0:bac9c3a3a6ca 7 virtual float GetElecPosition() {return 0.0f;}
bwang 0:bac9c3a3a6ca 8 };
bwang 0:bac9c3a3a6ca 9
bwang 0:bac9c3a3a6ca 10
bwang 0:bac9c3a3a6ca 11 class PositionSensorEncoder: public PositionSensor {
bwang 0:bac9c3a3a6ca 12 public:
bwang 0:bac9c3a3a6ca 13 PositionSensorEncoder(int CPR, float offset);
bwang 0:bac9c3a3a6ca 14 virtual float GetMechPosition();
bwang 0:bac9c3a3a6ca 15 virtual float GetElecPosition();
bwang 0:bac9c3a3a6ca 16 private:
bwang 0:bac9c3a3a6ca 17 InterruptIn *ZPulse;
bwang 0:bac9c3a3a6ca 18 DigitalIn *ZSense;
bwang 0:bac9c3a3a6ca 19 DigitalOut *ZTest;
bwang 0:bac9c3a3a6ca 20 void ZeroEncoderCount(void);
bwang 0:bac9c3a3a6ca 21 int _CPR;
bwang 0:bac9c3a3a6ca 22 int state;
bwang 0:bac9c3a3a6ca 23 float _offset;
bwang 0:bac9c3a3a6ca 24 };
bwang 0:bac9c3a3a6ca 25
bwang 0:bac9c3a3a6ca 26 #endif