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working version
Fork of foc-ed_in_the_bot_compact by
PositionSensor/PositionSensor.h
- Committer:
- dicarloj
- Date:
- 2016-10-30
- Revision:
- 13:41d102a53caf
- Parent:
- 9:074575151e4b
File content as of revision 13:41d102a53caf:
#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