Arduino-Rath-AS5600/PositionSensor.h at main · uncertainty-cc/Arduino-Rath-AS5600 · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58

#pragma once

namespace rath {

class PositionSensor {
  public:
    virtual void init();

    /**
     * @brief set the sensor position offset, in radian
     *
     * @return double
     */
    void set(double val) {
      _offset = val - get();
    }

    /**
     * @brief get the sensor reading in radian
     *
     * @return double
     */
     double get() {
       return _get() + _offset;
     }

    /**
     * @brief get the sensor reading in radian
     *
     * @return double
     */
    double getRadian() {
      return get();
    }

    /**
     * @brief get the sensor reading in radian
     *
     * @return double
     */
    double getDegree() {
      return get() * 180. / M_PI;
    }

  protected:

    /**
     * @brief subclass should implement this method.
     *
     * @return double
     */
    virtual double _get();

    double _offset = 0;
};

}