初定版本
Dependencies: mbed Hobbyking_Cheetah FastPWM3
Diff: PositionSensor/PositionSensor.h
- Revision:
- 8:10ae7bc88d6e
- Parent:
- 7:dc5f27756e02
- Child:
- 9:d7eb815cb057
--- a/PositionSensor/PositionSensor.h Tue Mar 29 01:05:46 2016 +0000 +++ b/PositionSensor/PositionSensor.h Wed Apr 13 04:09:56 2016 +0000 @@ -1,6 +1,5 @@ #ifndef POSITIONSENSOR_H #define POSITIONSENSOR_H - class PositionSensor { public: virtual float GetMechPosition() {return 0.0f;} @@ -26,4 +25,15 @@ float _offset, MechPosition, dir, test_pos; }; +class PositionSensorSPI: public PositionSensor{ +public: + PositionSensorSPI(int CPR, float offset); + virtual float GetMechPosition(); + virtual float GetElecPosition(); +private: + float _offset, MechPosition; + int _CPR, rotations, old_counts; + SPI *spi; + DigitalOut *cs; +}; #endif \ No newline at end of file