Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: PositionSensor/PositionSensor.cpp
- Revision:
- 28:ed9c1ca386fd
- Parent:
- 26:955a1dfc2705
- Child:
- 119:ad7a6af6fba3
--- a/PositionSensor/PositionSensor.cpp Sun Nov 06 04:27:40 2016 +0000 +++ b/PositionSensor/PositionSensor.cpp Mon Nov 07 10:56:01 2016 +0000 @@ -12,6 +12,7 @@ PositionSensorEncoder::PositionSensorEncoder(int cpr, float offset) { _cpr = cpr; _offset = offset; + _valid = false; __GPIOA_CLK_ENABLE(); __GPIOB_CLK_ENABLE(); @@ -43,10 +44,6 @@ ZPulse->enable_irq(); ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount); ZPulse->mode(PullDown); - - ZTest = new DigitalOut(PC_10); - ZTest->write(1); - state = 0; } /* @@ -85,6 +82,11 @@ if (ZSense->read() == 1){ if (ZSense->read() == 1){ TIM2->CNT = 0; + _valid = true; } } +} + +bool PositionSensorEncoder::IsValid() { + return _valid; } \ No newline at end of file