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Dependencies:   FastPWM mbed

Fork of foc-ed_in_the_bot_compact by N K

PositionSensor/PositionSensor.h@8:70122bad5f90, 2016-04-23 (annotated)

Committer:
bwang
Date:
Sat Apr 23 21:29:32 2016 +0000
Revision:
8:70122bad5f90
Parent:
0:bac9c3a3a6ca 
foc'ed in the bot

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 0:bac9c3a3a6ca 1 #ifndef POSITIONSENSOR_H
bwang 0:bac9c3a3a6ca 2 #define POSITIONSENSOR_H
bwang 0:bac9c3a3a6ca 3
bwang 0:bac9c3a3a6ca 4 class PositionSensor {
bwang 0:bac9c3a3a6ca 5 public:
bwang 0:bac9c3a3a6ca 6 virtual float GetMechPosition() {return 0.0f;}
bwang 0:bac9c3a3a6ca 7 virtual float GetElecPosition() {return 0.0f;}
bwang 8:70122bad5f90 8 virtual int GetRawPosition() {return 0;}
bwang 0:bac9c3a3a6ca 9 };
bwang 0:bac9c3a3a6ca 10
bwang 0:bac9c3a3a6ca 11
bwang 0:bac9c3a3a6ca 12 class PositionSensorEncoder: public PositionSensor {
bwang 0:bac9c3a3a6ca 13 public:
bwang 0:bac9c3a3a6ca 14 PositionSensorEncoder(int CPR, float offset);
bwang 0:bac9c3a3a6ca 15 virtual float GetMechPosition();
bwang 0:bac9c3a3a6ca 16 virtual float GetElecPosition();
bwang 8:70122bad5f90 17 virtual int GetRawPosition();
bwang 0:bac9c3a3a6ca 18 private:
bwang 0:bac9c3a3a6ca 19 InterruptIn *ZPulse;
bwang 0:bac9c3a3a6ca 20 DigitalIn *ZSense;
bwang 0:bac9c3a3a6ca 21 DigitalOut *ZTest;
bwang 0:bac9c3a3a6ca 22 void ZeroEncoderCount(void);
bwang 0:bac9c3a3a6ca 23 int _CPR;
bwang 0:bac9c3a3a6ca 24 int state;
bwang 0:bac9c3a3a6ca 25 float _offset;
bwang 0:bac9c3a3a6ca 26 };
bwang 0:bac9c3a3a6ca 27
bwang 0:bac9c3a3a6ca 28 #endif