N K
/
foc-ed_in_the_bot_compact
last working
Fork of foc-ed_in_the_bot_compact by
PositionSensor/PositionSensor.h
- Committer:
- nki
- Date:
- 2016-05-17
- Revision:
- 10:6829abb438fc
- Parent:
- 9:074575151e4b
File content as of revision 10:6829abb438fc:
#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