Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

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Dependencies:   FastPWM3 mbed

Diff: PositionSensor/PositionSensor.cpp

Revision:
28:ed9c1ca386fd
Parent:
26:955a1dfc2705
Child:
119:ad7a6af6fba3
--- a/PositionSensor/PositionSensor.cpp	Sun Nov 06 04:27:40 2016 +0000
+++ b/PositionSensor/PositionSensor.cpp	Mon Nov 07 10:56:01 2016 +0000
@@ -12,6 +12,7 @@
 PositionSensorEncoder::PositionSensorEncoder(int cpr, float offset) {
     _cpr = cpr;
     _offset = offset;
+    _valid = false;
     
     __GPIOA_CLK_ENABLE();
     __GPIOB_CLK_ENABLE();
@@ -43,10 +44,6 @@
     ZPulse->enable_irq();
     ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount);
     ZPulse->mode(PullDown);
-    
-    ZTest = new DigitalOut(PC_10);
-    ZTest->write(1);
-    state = 0;
 }
 
 /*
@@ -85,6 +82,11 @@
     if (ZSense->read() == 1){
         if (ZSense->read() == 1){
             TIM2->CNT = 0;
+            _valid = true;
         }
     }
+}
+
+bool PositionSensorEncoder::IsValid() {
+    return _valid;
 }
\ No newline at end of file