1
Dependencies: mbed-dev-f303 FastPWM3
Diff: PositionSensor/PositionSensor.h
- Revision:
- 52:d4d5e3414865
- Parent:
- 48:1b51771c3647
--- a/PositionSensor/PositionSensor.h Thu Aug 06 07:25:51 2020 +0000 +++ b/PositionSensor/PositionSensor.h Sat Aug 08 13:43:20 2020 +0000 @@ -15,7 +15,7 @@ virtual void WriteLUT(int new_lut[128]) = 0; }; - /* + class PositionSensorEncoder: public PositionSensor { public: PositionSensorEncoder(int CPR, float offset, int ppairs); @@ -35,12 +35,12 @@ //DigitalOut *ZTest; virtual void ZeroEncoderCount(void); virtual void ZeroEncoderCountDown(void); - int _CPR, flag, rotations, _ppairs, raw; + int _CPR, flag, rotations, _ppairs, raw, first_sample; //int state; float _offset, MechPosition, MechOffset, dir, test_pos, oldVel, out_old, velVec[40]; int offset_lut[128]; }; -*/ + class PositionSensorAM5147: public PositionSensor{ public: PositionSensorAM5147(int CPR, float offset, int ppairs); @@ -58,12 +58,12 @@ virtual void WriteLUT(int new_lut[128]); private: float position, ElecPosition, ElecOffset, MechPosition, MechOffset, modPosition, oldModPosition, oldVel, velVec[40], MechVelocity, ElecVelocity, ElecVelocityFilt; - int raw, _CPR, rotations, old_counts, _ppairs; + int raw, _CPR, rotations, old_counts, _ppairs, first_sample; SPI *spi; DigitalOut *cs; int readAngleCmd; int offset_lut[128]; - + }; - + #endif \ No newline at end of file