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Torque calculation added to leg readout
Dependencies: AS5048 LCM101 MODSERIAL PinDetect SDFileSystem mbed
Fork of heros_leg_readout by
Diff: constants.h
- Revision:
- 0:3855d4588f76
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/constants.h Fri Dec 01 11:14:38 2017 +0000 @@ -0,0 +1,53 @@ +#ifndef _CONSTANTS_HARDWARE_H_ +#define _CONSTANTS_HARDWARE_H_ + +#include "mbed.h" + +#ifndef M_PI +#define M_PI 3.14159265359f +#endif + +// SPI Communication AS5048 joint encoders +#define AS5048_MOSI PTD6 // D11 +#define AS5048_MISO PTD7 // D12 +#define AS5048_SCLK PTD5 // D13 +#define AS5048_CS PTD4 // D10 + +// SPI Communication external SD CARD +#define SD_MOSI PTC6 // D7 +#define SD_MISO PTC7 +#define SD_SCK PTC5 +#define SD_CS PTC10 + +// LCM101-100 kgf S-beam force sensor +#define LCM101 A3 + +/** + * Sensor settings and calibration data + */ +namespace sensors { + + // LCM101-100kgf force sensor + extern const float kLcm101Offset; + extern const float kLcm101Factor; + + // AS5048 abs angle sensor chain + extern const int kNumJoints; + + extern const char *kJointNames[]; + extern const float kOffsetsDegrees[]; + extern const bool kDirections[]; + + +} + +namespace timing { + extern const int kTimeControlUs; // control loop + extern const int kTimeLogDataUs; // data logging + extern const int kTimeSerialPrintUs; // serial printing + + extern const int kSerialBaudrate; +} + + +#endif \ No newline at end of file