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foc-ed_in_the_bot_compact
last working
Fork of foc-ed_in_the_bot_compact by
PositionSensor/PositionSensor.h@9:074575151e4b, 2016-05-17 (annotated)
- Committer:
- bwang
- Date:
- Tue May 17 06:44:09 2016 +0000
- Revision:
- 9:074575151e4b
- Parent:
- 0:bac9c3a3a6ca
prepping for altermotter operation
Who changed what in which revision?
User | Revision | Line number | New 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 | 0:bac9c3a3a6ca | 8 | }; |
bwang | 0:bac9c3a3a6ca | 9 | |
bwang | 0:bac9c3a3a6ca | 10 | |
bwang | 0:bac9c3a3a6ca | 11 | class PositionSensorEncoder: public PositionSensor { |
bwang | 0:bac9c3a3a6ca | 12 | public: |
bwang | 9:074575151e4b | 13 | PositionSensorEncoder(int cpr, float offset); |
bwang | 0:bac9c3a3a6ca | 14 | virtual float GetMechPosition(); |
bwang | 0:bac9c3a3a6ca | 15 | virtual float GetElecPosition(); |
bwang | 0:bac9c3a3a6ca | 16 | private: |
bwang | 0:bac9c3a3a6ca | 17 | InterruptIn *ZPulse; |
bwang | 0:bac9c3a3a6ca | 18 | DigitalIn *ZSense; |
bwang | 0:bac9c3a3a6ca | 19 | DigitalOut *ZTest; |
bwang | 0:bac9c3a3a6ca | 20 | void ZeroEncoderCount(void); |
bwang | 9:074575151e4b | 21 | int _cpr; |
bwang | 0:bac9c3a3a6ca | 22 | int state; |
bwang | 0:bac9c3a3a6ca | 23 | float _offset; |
bwang | 0:bac9c3a3a6ca | 24 | }; |
bwang | 0:bac9c3a3a6ca | 25 | |
bwang | 0:bac9c3a3a6ca | 26 | #endif |