K K / Mbed 2 deprecated heros_leg_readout_torque_addition

Torque calculation added to leg readout

Dependencies:   AS5048 LCM101 MODSERIAL PinDetect SDFileSystem mbed

Fork of heros_leg_readout by Martijn Grootens

bench.h@3:3fd9f1a00381, 2018-06-05 (annotated)

Committer:
Technical_Muffin
Date:
Tue Jun 05 08:51:45 2018 +0000
Revision:
3:3fd9f1a00381
Parent:
0:3855d4588f76 
added torque calculation to the main file of the code. New calibration values were also added to correctly display the values.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
megrootens 0:3855d4588f76 1 #ifndef _BENCH02_H_
megrootens 0:3855d4588f76 2 #define _BENCH02_H_
megrootens 0:3855d4588f76 3
megrootens 0:3855d4588f76 4 #include "mbed.h"
megrootens 0:3855d4588f76 5 #include "as5048.h"
megrootens 0:3855d4588f76 6 #include "lcm101.h"
megrootens 0:3855d4588f76 7 #include "constants.h"
megrootens 0:3855d4588f76 8
megrootens 0:3855d4588f76 9 /**
megrootens 0:3855d4588f76 10 * Class to read out sensory information from the second test bench;
megrootens 0:3855d4588f76 11 * the upper and lower leg, foot en toe setup with 1-dof hinges,
megrootens 0:3855d4588f76 12 * each of which is equipped with an AMS AS5048 absolute rotary sensor.
megrootens 0:3855d4588f76 13 * The sensors are daisy chained and communicate via SPI
megrootens 0:3855d4588f76 14 */
megrootens 0:3855d4588f76 15 class Bench {
megrootens 0:3855d4588f76 16 public:
megrootens 0:3855d4588f76 17
megrootens 0:3855d4588f76 18 static const float kCutOffDegrees = 180.0f;
megrootens 0:3855d4588f76 19 static const float kCutOffRadians = 3.14159265359f;
megrootens 0:3855d4588f76 20
megrootens 0:3855d4588f76 21 enum Joint {
megrootens 0:3855d4588f76 22 TOES,
megrootens 0:3855d4588f76 23 ANKLE,
megrootens 0:3855d4588f76 24 KNEE,
megrootens 0:3855d4588f76 25 HIP
megrootens 0:3855d4588f76 26 };
megrootens 0:3855d4588f76 27
megrootens 0:3855d4588f76 28 Bench(PinName mosi, PinName miso, PinName sck, PinName cs, PinName p_lcm101);
megrootens 0:3855d4588f76 29
megrootens 0:3855d4588f76 30 void Update();
megrootens 0:3855d4588f76 31
megrootens 0:3855d4588f76 32 float getDegrees(int i_joint);
megrootens 0:3855d4588f76 33 float getDegrees(Joint joint);
megrootens 0:3855d4588f76 34
megrootens 0:3855d4588f76 35 float getRadians(int i_joint);
megrootens 0:3855d4588f76 36 float getRadians(Joint joint);
megrootens 0:3855d4588f76 37
megrootens 0:3855d4588f76 38
megrootens 0:3855d4588f76 39 const char* getJointName(int i_joint);
megrootens 0:3855d4588f76 40 const char* getJointName(Joint joint);
megrootens 0:3855d4588f76 41
megrootens 0:3855d4588f76 42 float getForce();
megrootens 0:3855d4588f76 43
megrootens 0:3855d4588f76 44 As5048* get_as5048();
megrootens 0:3855d4588f76 45
megrootens 0:3855d4588f76 46
megrootens 0:3855d4588f76 47 private:
megrootens 0:3855d4588f76 48 As5048 as5048_;
megrootens 0:3855d4588f76 49 Lcm101 lcm101_;
megrootens 0:3855d4588f76 50 };
megrootens 0:3855d4588f76 51
megrootens 0:3855d4588f76 52 #endif