Bayley Wang
/
foc-ed_in_the_bot_compact
robot
PositionSensor/PositionSensor.h
- Committer:
- bwang
- Date:
- 2016-03-09
- Revision:
- 0:bac9c3a3a6ca
- Child:
- 5:efd3838b79a6
- Child:
- 8:70122bad5f90
- Child:
- 9:074575151e4b
File content as of revision 0:bac9c3a3a6ca:
#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; void ZeroEncoderCount(void); int _CPR; int state; float _offset; }; #endif