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Show/hide line numbers PositionSensor.h Source File

PositionSensor.h

00001 #ifndef POSITIONSENSOR_H
00002 #define POSITIONSENSOR_H
00003 
00004 class PositionSensor {
00005 public:
00006     virtual float GetMechPosition() {return 0.0f;}
00007     virtual float GetElecPosition() {return 0.0f;}
00008 };
00009   
00010   
00011 class PositionSensorEncoder: public PositionSensor {
00012 public:
00013     PositionSensorEncoder(int cpr, float offset);
00014     virtual float GetMechPosition();
00015     virtual float GetElecPosition();
00016 private:
00017     InterruptIn *ZPulse;
00018     DigitalIn *ZSense;
00019     DigitalOut *ZTest;
00020     void ZeroEncoderCount(void);
00021     int _cpr;
00022     int state;
00023     float _offset;
00024 };
00025 
00026 #endif
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