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Dependencies:   FastPWM mbed

Fork of foc-ed_in_the_bot_compact by N K

PositionSensor/PositionSensor.h

Committer:
bwang
Date:
2016-04-23
Revision:
8:70122bad5f90
Parent:
0:bac9c3a3a6ca

File content as of revision 8:70122bad5f90:

#ifndef POSITIONSENSOR_H
#define POSITIONSENSOR_H

class PositionSensor {
public:
    virtual float GetMechPosition() {return 0.0f;}
    virtual float GetElecPosition() {return 0.0f;}
    virtual int GetRawPosition() {return 0;}
};
  
  
class PositionSensorEncoder: public PositionSensor {
public:
    PositionSensorEncoder(int CPR, float offset);
    virtual float GetMechPosition();
    virtual float GetElecPosition();
    virtual int GetRawPosition();
private:
    InterruptIn *ZPulse;
    DigitalIn *ZSense;
    DigitalOut *ZTest;
    void ZeroEncoderCount(void);
    int _CPR;
    int state;
    float _offset;
};

#endif