N K
/
WangBoard_MotorScience
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Diff: PositionSensor/PositionSensor.h
- Revision:
- 0:bac9c3a3a6ca
- Child:
- 5:efd3838b79a6
- Child:
- 8:70122bad5f90
- Child:
- 9:074575151e4b
diff -r 000000000000 -r bac9c3a3a6ca PositionSensor/PositionSensor.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PositionSensor/PositionSensor.h Wed Mar 09 06:44:51 2016 +0000
@@ -0,0 +1,26 @@
+#ifndef POSITIONSENSOR_H
+#define POSITIONSENSOR_H
+
+class PositionSensor {
+public:
+ virtual float GetMechPosition() {return 0.0f;}
+ virtual float GetElecPosition() {return 0.0f;}
+};
+
+
+class PositionSensorEncoder: public PositionSensor {
+public:
+ PositionSensorEncoder(int CPR, float offset);
+ virtual float GetMechPosition();
+ virtual float GetElecPosition();
+private:
+ InterruptIn *ZPulse;
+ DigitalIn *ZSense;
+ DigitalOut *ZTest;
+ void ZeroEncoderCount(void);
+ int _CPR;
+ int state;
+ float _offset;
+};
+
+#endif
\ No newline at end of file