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.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 _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