qiu dehua
/
GT_MOTOR_24NM_V03
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Dependencies: mbed Hobbyking_Cheetah FastPWM3
Diff: PositionSensor/PositionSensor.h
- Revision:
- 0:4e1c4df6aabd
- Child:
- 1:b8bceb4daed5
diff -r 000000000000 -r 4e1c4df6aabd PositionSensor/PositionSensor.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PositionSensor/PositionSensor.h Fri Feb 05 00:52:53 2016 +0000
@@ -0,0 +1,26 @@
+#ifndef POSITIONSENSOR_H
+#define POSITIONSENSOR_H
+
+class PositionSensor {
+public:
+ virtual float GetMechPosition() {return 0.0f;}
+ virtual float GetElecPosition() {return 0.0f;}
+};
+
+
+class PositionSensorEncoder: public PositionSensor {
+public:
+ PositionSensorEncoder(int CPR, float offset);
+ virtual float GetMechPosition();
+ virtual float GetElecPosition();
+private:
+ InterruptIn *ZPulse;
+ DigitalIn *ZSense;
+ DigitalOut *ZTest;
+ virtual void ZeroEncoderCount(void);
+ int _CPR;
+ int state;
+ float _offset;
+};
+
+#endif
\ No newline at end of file