Bayley Wang
/
foc-ed_in_the_bot_compact
robot
PositionSensor/PositionSensor.h
- Committer:
- bwang
- Date:
- 2016-04-23
- Revision:
- 8:70122bad5f90
- Parent:
- 0:bac9c3a3a6ca
File content as of revision 8:70122bad5f90:
#ifndef POSITIONSENSOR_H #define POSITIONSENSOR_H class PositionSensor { public: virtual float GetMechPosition() {return 0.0f;} virtual float GetElecPosition() {return 0.0f;} virtual int GetRawPosition() {return 0;} }; class PositionSensorEncoder: public PositionSensor { public: PositionSensorEncoder(int CPR, float offset); virtual float GetMechPosition(); virtual float GetElecPosition(); virtual int GetRawPosition(); private: InterruptIn *ZPulse; DigitalIn *ZSense; DigitalOut *ZTest; void ZeroEncoderCount(void); int _CPR; int state; float _offset; }; #endif