Diff: PositionSensor/PositionSensor.h

Revision:

22:60276ba87ac6

Parent:

20:bf9ea5125d52

Child:

34:51647c6c500d

--- a/PositionSensor/PositionSensor.h	Thu Mar 02 15:31:45 2017 +0000
+++ b/PositionSensor/PositionSensor.h	Fri Mar 31 18:24:46 2017 +0000
@@ -2,75 +2,64 @@
 #define POSITIONSENSOR_H
 class PositionSensor {
 public:
+    virtual void Sample(void) = 0;
     virtual float GetMechPosition() {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;
+    int _CPR, flag, rotations, _ppairs, raw;
     //int state;
-    float _offset, MechPosition, dir, test_pos, vel_old, out_old;
-};
-
-class PositionSensorMA700: public PositionSensor{
-public:
-    PositionSensorMA700(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;
+    float _offset, MechPosition, MechOffset, dir, test_pos, oldVel, out_old, velVec[16];
+    int offset_lut[128];
 };
 
 class PositionSensorAM5147: public PositionSensor{
 public:
     PositionSensorAM5147(int CPR, float offset, int ppairs);
+    virtual void Sample();
     virtual float GetMechPosition();
     virtual float GetElecPosition();
     virtual float GetMechVelocity();
     virtual int GetRawPosition();
     virtual void ZeroPosition();
+    virtual void SetElecOffset(float offset);
+    virtual int GetCPR(void);
+    virtual void WriteLUT(int new_lut[128]);
 private:
-    float _offset, MechPosition, MechOffset;
-    int _CPR, rotations, old_counts, _ppairs;
+    float position, ElecPosition, ElecOffset, MechPosition, MechOffset, modPosition, oldModPosition, oldVel, velVec[16], MechVelocity, ElecVelocity;
+    int raw, _CPR, rotations, old_counts, _ppairs;
     SPI *spi;
     DigitalOut *cs;
     int readAngleCmd;
+    int offset_lut[128];
 
 };
 
-class PositionSensorSineGen: public PositionSensor{
-public:
-    PositionSensorSineGen(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;
-    int readAngleCmd;
-
-};
 #endif
\ No newline at end of file