Bayley Wang
/
qonly_controller
derp
PositionSensor/PositionSensor.h@21:3bfff547c5e2, 2016-04-19 (annotated)
- Committer:
- bwang
- Date:
- Tue Apr 19 18:04:19 2016 +0000
- Revision:
- 21:3bfff547c5e2
- Parent:
- 8:314074b56470
on the butt last night
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bwang | 0:bac9c3a3a6ca | 1 | #ifndef POSITIONSENSOR_H |
bwang | 0:bac9c3a3a6ca | 2 | #define POSITIONSENSOR_H |
bwang | 0:bac9c3a3a6ca | 3 | |
bwang | 0:bac9c3a3a6ca | 4 | class PositionSensor { |
bwang | 0:bac9c3a3a6ca | 5 | public: |
bwang | 0:bac9c3a3a6ca | 6 | virtual float GetMechPosition() {return 0.0f;} |
bwang | 0:bac9c3a3a6ca | 7 | virtual float GetElecPosition() {return 0.0f;} |
bwang | 8:314074b56470 | 8 | virtual int GetRawPosition() {return 0;} |
bwang | 0:bac9c3a3a6ca | 9 | }; |
bwang | 0:bac9c3a3a6ca | 10 | |
bwang | 0:bac9c3a3a6ca | 11 | |
bwang | 0:bac9c3a3a6ca | 12 | class PositionSensorEncoder: public PositionSensor { |
bwang | 0:bac9c3a3a6ca | 13 | public: |
bwang | 0:bac9c3a3a6ca | 14 | PositionSensorEncoder(int CPR, float offset); |
bwang | 0:bac9c3a3a6ca | 15 | virtual float GetMechPosition(); |
bwang | 0:bac9c3a3a6ca | 16 | virtual float GetElecPosition(); |
bwang | 8:314074b56470 | 17 | virtual int GetRawPosition(); |
bwang | 0:bac9c3a3a6ca | 18 | private: |
bwang | 0:bac9c3a3a6ca | 19 | InterruptIn *ZPulse; |
bwang | 0:bac9c3a3a6ca | 20 | DigitalIn *ZSense; |
bwang | 0:bac9c3a3a6ca | 21 | DigitalOut *ZTest; |
bwang | 0:bac9c3a3a6ca | 22 | void ZeroEncoderCount(void); |
bwang | 0:bac9c3a3a6ca | 23 | int _CPR; |
bwang | 0:bac9c3a3a6ca | 24 | int state; |
bwang | 0:bac9c3a3a6ca | 25 | float _offset; |
bwang | 0:bac9c3a3a6ca | 26 | }; |
bwang | 0:bac9c3a3a6ca | 27 | |
bwang | 0:bac9c3a3a6ca | 28 | #endif |