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

constants.cpp@3:3fd9f1a00381, 2018-06-05 (annotated)

Committer:
Technical_Muffin
Date:
Tue Jun 05 08:51:45 2018 +0000
Revision:
3:3fd9f1a00381
Parent:
2:84d479fe9b5e 
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 #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
Technical_Muffin 2:84d479fe9b5e 6 const float kLcm101Offset = -1.52;
Technical_Muffin 2:84d479fe9b5e 7 //This is currently the offset for the S610 sensor -5.41;
Technical_Muffin 2:84d479fe9b5e 8 //Offset for LCM101 sensor = -1.52
Technical_Muffin 2:84d479fe9b5e 9 const float kLcm101Factor = 970.55;
Technical_Muffin 2:84d479fe9b5e 10 //This is currently the factor for the S610 sensor 977.35;
Technical_Muffin 2:84d479fe9b5e 11 //Factor for LCM101 sensor is 970.55
Technical_Muffin 2:84d479fe9b5e 12
megrootens 0:3855d4588f76 13 // AS5048 abs angle sensor chain
megrootens 0:3855d4588f76 14 const int kNumJoints = 4;
megrootens 0:3855d4588f76 15
megrootens 0:3855d4588f76 16 const char *kJointNames[] = {"Toes","Ankle","Knee","Hip"};
megrootens 0:3855d4588f76 17 const float kOffsetsDegrees[] = {83.2f,6.3f,170.7f,6.5f};
megrootens 0:3855d4588f76 18 const bool kDirections[] = {false,true,false,true};
megrootens 0:3855d4588f76 19 }
megrootens 0:3855d4588f76 20
megrootens 0:3855d4588f76 21 namespace timing {
megrootens 0:3855d4588f76 22 const int kTimeControlUs = 1000; // 1000 Hz control loop
megrootens 0:3855d4588f76 23 const int kTimeLogDataUs = 20000; // 50 Hz data logging
megrootens 0:3855d4588f76 24 const int kTimeSerialPrintUs = 500000; // 2 Hz serial print
megrootens 0:3855d4588f76 25
megrootens 0:3855d4588f76 26 const int kSerialBaudrate = 115200;
megrootens 0:3855d4588f76 27 }