初定版本
Dependencies: mbed Hobbyking_Cheetah FastPWM3
Diff: PositionSensor/PositionSensor.h
- Revision:
- 10:370851e6e132
- Parent:
- 9:d7eb815cb057
- Child:
- 11:c83b18d41e54
--- a/PositionSensor/PositionSensor.h Tue May 10 01:15:57 2016 +0000 +++ b/PositionSensor/PositionSensor.h Thu May 12 05:02:52 2016 +0000 @@ -10,7 +10,7 @@ class PositionSensorEncoder: public PositionSensor { public: - PositionSensorEncoder(int CPR, float offset); + PositionSensorEncoder(int CPR, float offset, int ppairs); virtual float GetMechPosition(); virtual float GetElecPosition(); virtual float GetMechVelocity(); @@ -21,21 +21,21 @@ //DigitalOut *ZTest; virtual void ZeroEncoderCount(void); virtual void ZeroEncoderCountDown(void); - int _CPR, flag, rotations; + int _CPR, flag, rotations, _ppairs; //int state; float _offset, MechPosition, dir, test_pos, vel_old, out_old; }; class PositionSensorSPI: public PositionSensor{ public: - PositionSensorSPI(int CPR, float offset); + PositionSensorSPI(int CPR, float offset, int ppairs); virtual float GetMechPosition(); virtual float GetElecPosition(); virtual float GetMechVelocity(); virtual void ZeroPosition(); private: float _offset, MechPosition, MechOffset; - int _CPR, rotations, old_counts; + int _CPR, rotations, old_counts, _ppairs; SPI *spi; DigitalOut *cs; };