Torque calculation added to leg readout
Dependencies: AS5048 LCM101 MODSERIAL PinDetect SDFileSystem mbed
Fork of heros_leg_readout by
constants.h
- Committer:
- Technical_Muffin
- Date:
- 2018-06-05
- Revision:
- 3:3fd9f1a00381
- Parent:
- 0:3855d4588f76
File content as of revision 3:3fd9f1a00381:
#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