Robot

Dependencies:   mbed QEI

Embed: (wiki syntax)

« Back to documentation index

Show/hide line numbers Sensor.cpp Source File

Sensor.cpp

00001 #include "Sensor.h"
00002 using namespace std;
00003 
00004     Sensor::Sensor(PinName channelA,PinName channelB,float _rank, float _sFactor,float _offset, int _pulsesPerRev):Encoder(channelA,channelB, NC, _pulsesPerRev){
00005         rank = _rank;
00006         scale_factor = _sFactor;
00007         offset = _offset;
00008     }
00009 
00010     float Sensor::readSensor(){
00011         return (Encoder.getRevolutions());    
00012     }
00013     float Sensor::computevalue(int value){
00014         return (value*scale_factor-offset);
00015     }
00016     
00017     float Sensor::estimatevelocity (float prevValue,float sampling){
00018         return ((Encoder.getRevolutions()-prevValue)/sampling);
00019     }