Bayley Wang
/
qonly_controller
derp
PositionSensor/PositionSensor.h
- Committer:
- bwang
- Date:
- 2016-04-19
- Revision:
- 21:3bfff547c5e2
- Parent:
- 8:314074b56470
File content as of revision 21:3bfff547c5e2:
#ifndef POSITIONSENSOR_H #define POSITIONSENSOR_H class PositionSensor { public: virtual float GetMechPosition() {return 0.0f;} virtual float GetElecPosition() {return 0.0f;} virtual int GetRawPosition() {return 0;} }; class PositionSensorEncoder: public PositionSensor { public: PositionSensorEncoder(int CPR, float offset); virtual float GetMechPosition(); virtual float GetElecPosition(); virtual int GetRawPosition(); private: InterruptIn *ZPulse; DigitalIn *ZSense; DigitalOut *ZTest; void ZeroEncoderCount(void); int _CPR; int state; float _offset; }; #endif