Torque calculation added to leg readout
Dependencies: AS5048 LCM101 MODSERIAL PinDetect SDFileSystem mbed
Fork of heros_leg_readout by
constants.cpp@0:3855d4588f76, 2017-12-01 (annotated)
- Committer:
- megrootens
- Date:
- Fri Dec 01 11:14:38 2017 +0000
- Revision:
- 0:3855d4588f76
- Child:
- 2:84d479fe9b5e
serial printing and SD card logging of joint angles and force sensor
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
megrootens | 0:3855d4588f76 | 1 | #include "constants.h" |
megrootens | 0:3855d4588f76 | 2 | |
megrootens | 0:3855d4588f76 | 3 | namespace sensors { |
megrootens | 0:3855d4588f76 | 4 | |
megrootens | 0:3855d4588f76 | 5 | // LCM101-100kgf force sensor |
megrootens | 0:3855d4588f76 | 6 | const float kLcm101Offset = 647.600f; |
megrootens | 0:3855d4588f76 | 7 | const float kLcm101Factor = -1296.53; |
megrootens | 0:3855d4588f76 | 8 | |
megrootens | 0:3855d4588f76 | 9 | // AS5048 abs angle sensor chain |
megrootens | 0:3855d4588f76 | 10 | const int kNumJoints = 4; |
megrootens | 0:3855d4588f76 | 11 | |
megrootens | 0:3855d4588f76 | 12 | const char *kJointNames[] = {"Toes","Ankle","Knee","Hip"}; |
megrootens | 0:3855d4588f76 | 13 | const float kOffsetsDegrees[] = {83.2f,6.3f,170.7f,6.5f}; |
megrootens | 0:3855d4588f76 | 14 | const bool kDirections[] = {false,true,false,true}; |
megrootens | 0:3855d4588f76 | 15 | } |
megrootens | 0:3855d4588f76 | 16 | |
megrootens | 0:3855d4588f76 | 17 | namespace timing { |
megrootens | 0:3855d4588f76 | 18 | const int kTimeControlUs = 1000; // 1000 Hz control loop |
megrootens | 0:3855d4588f76 | 19 | const int kTimeLogDataUs = 20000; // 50 Hz data logging |
megrootens | 0:3855d4588f76 | 20 | const int kTimeSerialPrintUs = 500000; // 2 Hz serial print |
megrootens | 0:3855d4588f76 | 21 | |
megrootens | 0:3855d4588f76 | 22 | const int kSerialBaudrate = 115200; |
megrootens | 0:3855d4588f76 | 23 | } |