MorphGI / Mbed OS MGI_Rebuild_MidLevel_9_0-Basic_PWM

Basic Mid-Level control for the rebuilt MorphGI control unit, using PWM to communicate with the low level controllers.

Dependencies:   ros_lib_kinetic

MLSettings.h@28:8e0c502c1a50, 2019-02-06 (annotated)

Committer:
WD40andTape
Date:
Wed Feb 06 16:10:18 2019 +0000
Revision:
28:8e0c502c1a50
Parent:
27:6853ee8ffefd
Child:
29:10a5cf37a875
Tested and working (separate from HL).

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dofydoink 12:595ed862e52f 1 // MLSettings.h
dofydoink 12:595ed862e52f 2
dofydoink 12:595ed862e52f 3 #ifndef MLSETTINGS_H
dofydoink 12:595ed862e52f 4 #define MLSETTINGS_H
dofydoink 12:595ed862e52f 5
dofydoink 12:595ed862e52f 6 // GENERAL SETTINGS
dofydoink 12:595ed862e52f 7 const unsigned short int N_CHANNELS = 8; // Number of channels to control
dofydoink 12:595ed862e52f 8 // 1-3: front segment; 4-6: rear segment; 7-8: mid segment
WD40andTape 28:8e0c502c1a50 9 const int BAUD_RATE = 115200; //9600; //115200
dofydoink 12:595ed862e52f 10
dofydoink 12:595ed862e52f 11 // HL COMMUNICATION SETTINGS
dofydoink 12:595ed862e52f 12 const bool IS_PRINT_OUTPUT = false;
dofydoink 12:595ed862e52f 13 const bool IS_DHCP = false;
WD40andTape 28:8e0c502c1a50 14 const unsigned short int HL_COMMS_FREQ_HZ = 100; // Frequency at which communications can happen with HL, if messages are waiting
WD40andTape 24:bc852aa89e7a 15
WD40andTape 24:bc852aa89e7a 16 // REAL TIME FREQUENCIES
WD40andTape 28:8e0c502c1a50 17 const short int SENSOR_FEEDBACK_HZ = 20; // Frequency at which sensor messages are queued / published to HL
WD40andTape 27:6853ee8ffefd 18 const float LL_DEMANDS_FREQ_HZ = 50;
dofydoink 12:595ed862e52f 19 const unsigned int LOW_LEVEL_SPI_FREQUENCY = 10000000;
dofydoink 12:595ed862e52f 20
WD40andTape 26:7c59002c9cd7 21 const float MAX_PRESSURE_LIMIT = 10.0;
WD40andTape 26:7c59002c9cd7 22
dofydoink 12:595ed862e52f 23 // PATH GENERATION SETTINGS
WD40andTape 27:6853ee8ffefd 24 const float MAX_ACTUATOR_LIMIT_MM = 40.0;
WD40andTape 26:7c59002c9cd7 25 const float MAX_ACTUATOR_LENGTH_MM = 52.2;
dofydoink 12:595ed862e52f 26 const float MAX_SPEED_MMPS = 24.3457;
dofydoink 12:595ed862e52f 27 //const float FLT_MAX_CHAMBER_LENGTHS_MM[N_CHANNELS] = {80.0,80.0,80.0,80.0,80.0,80.0,80.0,80.0};
WD40andTape 27:6853ee8ffefd 28 //const float FLT_ACTUATOR_CONVERSION[N_CHANNELS] = {1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0}; // Convert from chamber lengths to actuator
WD40andTape 27:6853ee8ffefd 29 const float FLT_PATH_TOLERANCE_MM = 0.1; // Maximum achievable mm path tolerance
dofydoink 12:595ed862e52f 30
dofydoink 12:595ed862e52f 31 #endif