Code for the COVR project DROPSAW project test rig (previously used for the Heros testing).
Dependencies: SPTE_10Bar_5V mbed AS5048 SDFileSystem MODSERIAL LCM101_DROPSAW LinearActuator
Diff: constants.cpp
- Revision:
- 0:3855d4588f76
- Child:
- 2:84d479fe9b5e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/constants.cpp Fri Dec 01 11:14:38 2017 +0000 @@ -0,0 +1,23 @@ +#include "constants.h" + +namespace sensors { + + // LCM101-100kgf force sensor + const float kLcm101Offset = 647.600f; + const float kLcm101Factor = -1296.53; + + // AS5048 abs angle sensor chain + const int kNumJoints = 4; + + const char *kJointNames[] = {"Toes","Ankle","Knee","Hip"}; + const float kOffsetsDegrees[] = {83.2f,6.3f,170.7f,6.5f}; + const bool kDirections[] = {false,true,false,true}; +} + +namespace timing { + const int kTimeControlUs = 1000; // 1000 Hz control loop + const int kTimeLogDataUs = 20000; // 50 Hz data logging + const int kTimeSerialPrintUs = 500000; // 2 Hz serial print + + const int kSerialBaudrate = 115200; +} \ No newline at end of file