初定版本
Dependencies: mbed Hobbyking_Cheetah FastPWM3
PositionSensor/PositionSensor.h@3:6a0015d88d06, 2016-03-09 (annotated)
- Committer:
- benkatz
- Date:
- Wed Mar 09 04:00:48 2016 +0000
- Revision:
- 3:6a0015d88d06
- Parent:
- 1:b8bceb4daed5
- Child:
- 7:dc5f27756e02
more motter;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
benkatz | 0:4e1c4df6aabd | 1 | #ifndef POSITIONSENSOR_H |
benkatz | 0:4e1c4df6aabd | 2 | #define POSITIONSENSOR_H |
benkatz | 0:4e1c4df6aabd | 3 | |
benkatz | 0:4e1c4df6aabd | 4 | class PositionSensor { |
benkatz | 0:4e1c4df6aabd | 5 | public: |
benkatz | 0:4e1c4df6aabd | 6 | virtual float GetMechPosition() {return 0.0f;} |
benkatz | 0:4e1c4df6aabd | 7 | virtual float GetElecPosition() {return 0.0f;} |
benkatz | 0:4e1c4df6aabd | 8 | }; |
benkatz | 0:4e1c4df6aabd | 9 | |
benkatz | 0:4e1c4df6aabd | 10 | |
benkatz | 0:4e1c4df6aabd | 11 | class PositionSensorEncoder: public PositionSensor { |
benkatz | 0:4e1c4df6aabd | 12 | public: |
benkatz | 0:4e1c4df6aabd | 13 | PositionSensorEncoder(int CPR, float offset); |
benkatz | 0:4e1c4df6aabd | 14 | virtual float GetMechPosition(); |
benkatz | 0:4e1c4df6aabd | 15 | virtual float GetElecPosition(); |
benkatz | 3:6a0015d88d06 | 16 | virtual float GetMechVelocity(); |
benkatz | 3:6a0015d88d06 | 17 | virtual float GetElecVelocity(); |
benkatz | 0:4e1c4df6aabd | 18 | private: |
benkatz | 0:4e1c4df6aabd | 19 | InterruptIn *ZPulse; |
benkatz | 0:4e1c4df6aabd | 20 | DigitalIn *ZSense; |
benkatz | 1:b8bceb4daed5 | 21 | //DigitalOut *ZTest; |
benkatz | 0:4e1c4df6aabd | 22 | virtual void ZeroEncoderCount(void); |
benkatz | 0:4e1c4df6aabd | 23 | int _CPR; |
benkatz | 1:b8bceb4daed5 | 24 | //int state; |
benkatz | 3:6a0015d88d06 | 25 | float _offset, MechPosition; |
benkatz | 0:4e1c4df6aabd | 26 | }; |
benkatz | 0:4e1c4df6aabd | 27 | |
benkatz | 0:4e1c4df6aabd | 28 | #endif |