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