25 lines
477 B
C
25 lines
477 B
C
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#ifndef PIBOT_ENCODER_H_
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#define PIBOT_ENCODER_H_
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// 编码器接口
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class Encoder
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{
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public:
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//初始化
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virtual void init()=0;
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//清除编码器
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virtual void clear()=0;
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//获取累计编码器值
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virtual long get_total_count()=0;
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//获取编码器变化值， 用于pid计算
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virtual long get_increment_count_for_dopid()=0;
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//获取编码器变化值， 用于odom计算
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virtual long get_increment_count_for_odom()=0;
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};
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#endif
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