Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

PositionSensor/PositionSensor.h

Committer:
bwang
Date:
2016-10-30
Revision:
15:b583cd30b063
Parent:
9:074575151e4b
Child:
28:ed9c1ca386fd

File content as of revision 15:b583cd30b063:

#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;
    void ZeroEncoderCount(void);
    int _cpr;
    int state;
    float _offset;
};

#endif