Bayley Wang
/
foc-ed_in_the_bot_compact
robot
PositionSensor/PositionSensor.h
- Committer:
- bwang
- Date:
- 2016-11-07
- Revision:
- 28:ed9c1ca386fd
- Parent:
- 15:b583cd30b063
- Child:
- 119:ad7a6af6fba3
File content as of revision 28:ed9c1ca386fd:
#ifndef __POSITIONSENSOR_H #define __POSITIONSENSOR_H class PositionSensor { public: virtual float GetMechPosition() {return 0.0f;} virtual float GetElecPosition() {return 0.0f;} virtual bool IsValid() {return false;} }; class PositionSensorEncoder: public PositionSensor { public: PositionSensorEncoder(int cpr, float offset); virtual float GetMechPosition(); virtual float GetElecPosition(); virtual bool IsValid(); private: InterruptIn *ZPulse; DigitalIn *ZSense; void ZeroEncoderCount(void); int _cpr; bool _valid; float _offset; }; #endif