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:
- 5:63063a9fa51c
- Parent:
- 4:1cdce6c6c94e
- Child:
- 10:77fcbad99a31
--- a/constants.cpp Fri Oct 12 12:12:55 2018 +0000 +++ b/constants.cpp Mon Dec 09 10:51:46 2019 +0000 @@ -1,38 +1,67 @@ #include "constants.h" namespace sensors { + const bool use5kN = true; // LCM101-100kgf force sensor - const float kLcm101Offset = 1.99;//-1.52; + // Equation from 7/6/2018 calibration used: + // kLcm101Offset = 1.99 + // kLcm101Factor = 969.2 + // Equation from 8/3/2019 calibration used: + // kLcm101Offset = 4.31 + // kLcm101Factor = 1001.1 + + const float kLcm101Offset = 4.31;//-1.52; //This is currently the offset for the S610 sensor -5.41; //Offset for LCM101 sensor = -1.52 - const float kLcm101Factor = 969.2;//970.55; + const float kLcm101Factor = 1001.1;//970.55; //This is currently the factor for the S610 sensor 977.35; //Factor for LCM101 sensor is 970.55 + // Gen5kN force sensor + // Equation from 21/2/2019 calibration used: + // kLcm101Offset = 21.2 + // kLcm101Factor = 5530 + + const float kGen5kNOffset = 21.2; + const float kGen5kNFactor = 5530; + // Pressure sensor slope and offset values for a gauge pressure reading in bar - const float kSPTE0Offset = -2.47; + // Equation from 25/6/2018 calibration used: + // kSPTE0Offset = -2.47 + // kSPTE0Factor = 12.5 - const float kSPTE0Factor = 12.5; // + // Equation from 21/2/2019 calibration used + // kSPTE0Offset = -2.33 + // kSPTE0Factor = 12.0 + + const float kSPTE0Offset = -2.33; + + const float kSPTE0Factor = 12.0; const float kSPTE1Offset = -2.47; const float kSPTE1Factor = 12.5; // // AS5048 abs angle sensor chain - const int kNumJoints = 4; + const int kNumJoints = 1; - 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}; + const char *kJointNames[] = {"Knee"};//{"1","Knee","3","4"}; + const float kOffsetsDegrees[] = {76.9};//{180,180,180,180}; + const bool kDirections[] = {true};//{true,true,true,true}; } namespace timing { - const int TimeControlHertz = 5000;// control loop sample rate - const int LogDataHertz = 500; //data log sample rate + const int TimeControlHertz = 1000;// control loop sample rate + const int LogDataHertz = 250; //data log sample rate + const int SerialPrintHertz = 2; //print rate of serial const int kTimeControlUs = 1000000/TimeControlHertz; // 1000 Hz control loop const int kTimeLogDataUs = 1000000/LogDataHertz; // 200 Hz data logging - const int kTimeSerialPrintUs = 500000; // 2 Hz serial print + const int kTimeSerialPrintUs = 1000000/SerialPrintHertz; // 2 Hz serial print const int kSerialBaudrate = 115200; +} + +namespace rigStructure { + const bool invertedRig = false; //indicates if rig is inverted or not (for internal torque calculation) } \ No newline at end of file