Test the set param mode
PositionSensor/PositionSensor.h
- Committer:
- benkatz
- Date:
- 2016-05-22
- Revision:
- 13:a3fa0a31b114
- Parent:
- 11:c83b18d41e54
- Child:
- 14:80ce59119d93
File content as of revision 13:a3fa0a31b114:
#ifndef POSITIONSENSOR_H #define POSITIONSENSOR_H class PositionSensor { public: virtual float GetMechPosition() {return 0.0f;} virtual float GetElecPosition() {return 0.0f;} virtual float GetMechVelocity() {return 0.0f;} virtual float GetElecVelocity() {return 0.0f;} }; class PositionSensorEncoder: public PositionSensor { public: PositionSensorEncoder(int CPR, float offset, int ppairs); virtual float GetMechPosition(); virtual float GetElecPosition(); virtual float GetMechVelocity(); virtual float GetElecVelocity(); private: InterruptIn *ZPulse; DigitalIn *ZSense; //DigitalOut *ZTest; virtual void ZeroEncoderCount(void); virtual void ZeroEncoderCountDown(void); int _CPR, flag, rotations, _ppairs; //int state; float _offset, MechPosition, dir, test_pos, vel_old, out_old; }; class PositionSensorSPI: public PositionSensor{ public: PositionSensorSPI(int CPR, float offset, int ppairs); virtual float GetMechPosition(); virtual float GetElecPosition(); virtual float GetMechVelocity(); virtual int GetRawPosition(); virtual void ZeroPosition(); private: float _offset, MechPosition, MechOffset; int _CPR, rotations, old_counts, _ppairs; SPI *spi; DigitalOut *cs; }; #endif