Torque calculation added to leg readout
Dependencies: AS5048 LCM101 MODSERIAL PinDetect SDFileSystem mbed
Fork of heros_leg_readout by
constants.h@0:3855d4588f76, 2017-12-01 (annotated)
- Committer:
- megrootens
- Date:
- Fri Dec 01 11:14:38 2017 +0000
- Revision:
- 0:3855d4588f76
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 | #ifndef _CONSTANTS_HARDWARE_H_ |
megrootens | 0:3855d4588f76 | 2 | #define _CONSTANTS_HARDWARE_H_ |
megrootens | 0:3855d4588f76 | 3 | |
megrootens | 0:3855d4588f76 | 4 | #include "mbed.h" |
megrootens | 0:3855d4588f76 | 5 | |
megrootens | 0:3855d4588f76 | 6 | #ifndef M_PI |
megrootens | 0:3855d4588f76 | 7 | #define M_PI 3.14159265359f |
megrootens | 0:3855d4588f76 | 8 | #endif |
megrootens | 0:3855d4588f76 | 9 | |
megrootens | 0:3855d4588f76 | 10 | // SPI Communication AS5048 joint encoders |
megrootens | 0:3855d4588f76 | 11 | #define AS5048_MOSI PTD6 // D11 |
megrootens | 0:3855d4588f76 | 12 | #define AS5048_MISO PTD7 // D12 |
megrootens | 0:3855d4588f76 | 13 | #define AS5048_SCLK PTD5 // D13 |
megrootens | 0:3855d4588f76 | 14 | #define AS5048_CS PTD4 // D10 |
megrootens | 0:3855d4588f76 | 15 | |
megrootens | 0:3855d4588f76 | 16 | // SPI Communication external SD CARD |
megrootens | 0:3855d4588f76 | 17 | #define SD_MOSI PTC6 // D7 |
megrootens | 0:3855d4588f76 | 18 | #define SD_MISO PTC7 |
megrootens | 0:3855d4588f76 | 19 | #define SD_SCK PTC5 |
megrootens | 0:3855d4588f76 | 20 | #define SD_CS PTC10 |
megrootens | 0:3855d4588f76 | 21 | |
megrootens | 0:3855d4588f76 | 22 | // LCM101-100 kgf S-beam force sensor |
megrootens | 0:3855d4588f76 | 23 | #define LCM101 A3 |
megrootens | 0:3855d4588f76 | 24 | |
megrootens | 0:3855d4588f76 | 25 | /** |
megrootens | 0:3855d4588f76 | 26 | * Sensor settings and calibration data |
megrootens | 0:3855d4588f76 | 27 | */ |
megrootens | 0:3855d4588f76 | 28 | namespace sensors { |
megrootens | 0:3855d4588f76 | 29 | |
megrootens | 0:3855d4588f76 | 30 | // LCM101-100kgf force sensor |
megrootens | 0:3855d4588f76 | 31 | extern const float kLcm101Offset; |
megrootens | 0:3855d4588f76 | 32 | extern const float kLcm101Factor; |
megrootens | 0:3855d4588f76 | 33 | |
megrootens | 0:3855d4588f76 | 34 | // AS5048 abs angle sensor chain |
megrootens | 0:3855d4588f76 | 35 | extern const int kNumJoints; |
megrootens | 0:3855d4588f76 | 36 | |
megrootens | 0:3855d4588f76 | 37 | extern const char *kJointNames[]; |
megrootens | 0:3855d4588f76 | 38 | extern const float kOffsetsDegrees[]; |
megrootens | 0:3855d4588f76 | 39 | extern const bool kDirections[]; |
megrootens | 0:3855d4588f76 | 40 | |
megrootens | 0:3855d4588f76 | 41 | |
megrootens | 0:3855d4588f76 | 42 | } |
megrootens | 0:3855d4588f76 | 43 | |
megrootens | 0:3855d4588f76 | 44 | namespace timing { |
megrootens | 0:3855d4588f76 | 45 | extern const int kTimeControlUs; // control loop |
megrootens | 0:3855d4588f76 | 46 | extern const int kTimeLogDataUs; // data logging |
megrootens | 0:3855d4588f76 | 47 | extern const int kTimeSerialPrintUs; // serial printing |
megrootens | 0:3855d4588f76 | 48 | |
megrootens | 0:3855d4588f76 | 49 | extern const int kSerialBaudrate; |
megrootens | 0:3855d4588f76 | 50 | } |
megrootens | 0:3855d4588f76 | 51 | |
megrootens | 0:3855d4588f76 | 52 | |
megrootens | 0:3855d4588f76 | 53 | #endif |