Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

PositionSensor/PositionSensor.h@219:1cfd651eb2b2, 2018-06-26 (annotated)

Committer:
bwang
Date:
Tue Jun 26 19:48:14 2018 +0000
Revision:
219:1cfd651eb2b2
Parent:
121:de10418bf2c2 
06/26/2018 15:47 - GetUnlimitedElecPosition() is now a private member of PositionSensorEncoder class (it is only used to compute mechanical position)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 15:b583cd30b063 1 #ifndef __POSITIONSENSOR_H
bwang 15:b583cd30b063 2 #define __POSITIONSENSOR_H
bwang 0:bac9c3a3a6ca 3
bwang 0:bac9c3a3a6ca 4 class PositionSensor {
bwang 0:bac9c3a3a6ca 5 public:
bwang 0:bac9c3a3a6ca 6 virtual float GetMechPosition() {return 0.0f;}
bwang 0:bac9c3a3a6ca 7 virtual float GetElecPosition() {return 0.0f;}
bwang 28:ed9c1ca386fd 8 virtual bool IsValid() {return false;}
bwang 0:bac9c3a3a6ca 9 };
bwang 0:bac9c3a3a6ca 10
bwang 0:bac9c3a3a6ca 11 class PositionSensorEncoder: public PositionSensor {
bwang 0:bac9c3a3a6ca 12 public:
bwang 9:074575151e4b 13 PositionSensorEncoder(int cpr, float offset);
bwang 0:bac9c3a3a6ca 14 virtual float GetMechPosition();
bwang 0:bac9c3a3a6ca 15 virtual float GetElecPosition();
bwang 28:ed9c1ca386fd 16 virtual bool IsValid();
bwang 0:bac9c3a3a6ca 17 private:
bwang 0:bac9c3a3a6ca 18 InterruptIn *ZPulse;
bwang 0:bac9c3a3a6ca 19 DigitalIn *ZSense;
bwang 0:bac9c3a3a6ca 20 void ZeroEncoderCount(void);
bwang 219:1cfd651eb2b2 21 virtual float GetUnlimitedElecPosition();
bwang 119:ad7a6af6fba3 22 private:
bwang 9:074575151e4b 23 int _cpr;
bwang 119:ad7a6af6fba3 24 int _lobes;
bwang 119:ad7a6af6fba3 25 float _offset;
bwang 119:ad7a6af6fba3 26
bwang 28:ed9c1ca386fd 27 bool _valid;
bwang 119:ad7a6af6fba3 28 float _rotations;
bwang 0:bac9c3a3a6ca 29 };
bwang 0:bac9c3a3a6ca 30
bwang 0:bac9c3a3a6ca 31 #endif