Test the set param mode
PositionSensor/PositionSensor.h
- Committer:
- benkatz
- Date:
- 2018-05-14
- Revision:
- 38:67e4e1453a4b
- Parent:
- 37:c0f352d6e8e3
- Child:
- 47:e1196a851f76
File content as of revision 38:67e4e1453a4b:
#ifndef POSITIONSENSOR_H #define POSITIONSENSOR_H class PositionSensor { public: virtual void Sample(void) = 0; virtual float GetMechPosition() {return 0.0f;} virtual float GetMechPositionFixed() {return 0.0f;} virtual float GetElecPosition() {return 0.0f;} virtual float GetMechVelocity() {return 0.0f;} virtual float GetElecVelocity() {return 0.0f;} virtual void ZeroPosition(void) = 0; virtual int GetRawPosition(void) = 0; virtual void SetElecOffset(float offset) = 0; virtual int GetCPR(void) = 0; virtual void WriteLUT(int new_lut[128]) = 0; }; class PositionSensorEncoder: public PositionSensor { public: PositionSensorEncoder(int CPR, float offset, int ppairs); virtual void Sample(); virtual float GetMechPosition(); virtual float GetElecPosition(); virtual float GetMechVelocity(); virtual float GetElecVelocity(); virtual void ZeroPosition(void); virtual void SetElecOffset(float offset); virtual int GetRawPosition(void); virtual int GetCPR(void); virtual void WriteLUT(int new_lut[128]); private: InterruptIn *ZPulse; DigitalIn *ZSense; //DigitalOut *ZTest; virtual void ZeroEncoderCount(void); virtual void ZeroEncoderCountDown(void); int _CPR, flag, rotations, _ppairs, raw; //int state; float _offset, MechPosition, MechOffset, dir, test_pos, oldVel, out_old, velVec[40]; int offset_lut[128]; }; class PositionSensorAM5147: public PositionSensor{ public: PositionSensorAM5147(int CPR, float offset, int ppairs); virtual void Sample(); virtual float GetMechPosition(); virtual float GetMechPositionFixed(); virtual float GetElecPosition(); virtual float GetMechVelocity(); virtual float GetElecVelocity(); virtual int GetRawPosition(); virtual void ZeroPosition(); virtual void SetElecOffset(float offset); virtual void SetMechOffset(float offset); virtual int GetCPR(void); virtual void WriteLUT(int new_lut[128]); private: float position, ElecPosition, ElecOffset, MechPosition, MechOffset, modPosition, oldModPosition, oldVel, velVec[40], MechVelocity, ElecVelocity, ElecVelocityFilt; int raw, _CPR, rotations, old_counts, _ppairs; SPI *spi; DigitalOut *cs; int readAngleCmd; int offset_lut[128]; }; #endif