N K
/
foc-ed_in_the_bot_compact
last working
Fork of foc-ed_in_the_bot_compact by
PositionSensor/PositionSensor.h@0:bac9c3a3a6ca, 2016-03-09 (annotated)
- Committer:
- bwang
- Date:
- Wed Mar 09 06:44:51 2016 +0000
- Revision:
- 0:bac9c3a3a6ca
- Child:
- 5:efd3838b79a6
- Child:
- 8:70122bad5f90
- Child:
- 9:074575151e4b
open loop, working; motor draws ~400mA at 30V; pre-center aligned PWM
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 | 0:bac9c3a3a6ca | 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 | 0:bac9c3a3a6ca | 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 |