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

Diff: constants.cpp

Revision:
2:84d479fe9b5e
Parent:
0:3855d4588f76
--- a/constants.cpp	Wed Dec 06 11:22:54 2017 +0000
+++ b/constants.cpp	Tue Jun 05 08:49:21 2018 +0000
@@ -3,9 +3,13 @@
 namespace sensors {
     
     // LCM101-100kgf force sensor
-    const float kLcm101Offset = 647.600f;
-    const float kLcm101Factor = -1296.53;
-    
+    const float kLcm101Offset = -1.52;
+    //This is currently the offset for the S610 sensor -5.41;
+    //Offset for LCM101 sensor = -1.52
+    const float kLcm101Factor = 970.55;
+    //This is currently the factor for the S610 sensor 977.35;
+    //Factor for LCM101 sensor is 970.55
+        
     // AS5048 abs angle sensor chain
     const int kNumJoints = 4;