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

Committer:
dofydoink
Date:
2020-09-03
Revision:
41:0e3898b29230
Parent:
36:4459be8296e9
Child:
42:5a5ad23a4bb1

File content as of revision 41:0e3898b29230:

// MLSettings.h

#ifndef MLSETTINGS_H
#define MLSETTINGS_H

// GENERAL SETTINGS
const unsigned short int N_CHANNELS = 9; // Number of channels to control
// 1-3: front segment; 4-6: rear segment; 7-8: mid segment
const int BAUD_RATE = 115200; //9600; //115200

// HL COMMUNICATION SETTINGS
const bool IS_DHCP = false;
const unsigned short int HL_COMMS_FREQ_HZ = 200; // Frequency at which communications can happen with HL, if messages are waiting

// REAL TIME FREQUENCIES
const short int SENSOR_FEEDBACK_HZ = 20; // Frequency at which sensor messages are queued / published to HL
const float LL_DEMANDS_FREQ_HZ = 50;
const unsigned int LOW_LEVEL_SPI_FREQUENCY = 10000000;

const float MAX_PRESSURE_LIMIT = 12.0;

// PATH GENERATION SETTINGS
const float MAX_ACTUATOR_LIMIT_MM = 40.0;
const float MAX_ACTUATOR_LENGTH_MM = 52.2;
const float MAX_SPEED_MMPS = 24.3457;

#endif