Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

PositionSensor/PositionSensor.h

Committer:
bwang
Date:
2016-03-27
Revision:
5:efd3838b79a6
Parent:
0:bac9c3a3a6ca

File content as of revision 5:efd3838b79a6:

#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