Diff: constants.cpp

Revision:

15:a84d54e25775

Parent:

13:219c16e7d32c

--- a/constants.cpp	Mon Oct 26 08:33:02 2020 +0000
+++ b/constants.cpp	Mon Oct 26 11:55:27 2020 +0000
@@ -1,9 +1,30 @@
+/*  Copyright 2020 Allan Joshua Veale
+ 
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+ 
+        http://www.apache.org/licenses/LICENSE-2.0
+ 
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
 #include "constants.h"
 
+/** Default values for constants
+ */
+
 namespace sensors {
     const bool use5kN = false;
     
     // LCM101-100kgf force sensor
+    const float kLcm101Offset = -1.5;
+    const float kLcm101Factor = 970.55;
+    
     // Equation from 7/6/2018 calibration used:
     // kLcm101Offset = 1.99
     // kLcm101Factor = 969.2
@@ -11,57 +32,51 @@
     // kLcm101Offset = 4.31
     // kLcm101Factor = 1001.1
     
-    const float kLcm101Offset = -1.5;//-1.52;
-    //This is currently the offset for the S610 sensor -5.41;
-    //Offset for LCM101 sensor = -1.52
-    const float kLcm101Factor = 970.55;//970.55;
-    //This is currently the factor for the S610 sensor 977.35;
-    //Factor for LCM101 sensor is 970.55
     
     // Gen5kN force sensor
+    const float kGen5kNOffset = 0;
+    const float kGen5kNFactor = 5530; 
+    
     // Equation from 21/2/2019 calibration used:
     // kLcm101Offset = 21.2
     // kLcm101Factor = 5530
-    
-    const float kGen5kNOffset = 0;
-    const float kGen5kNFactor = 5530;    
+      
     
     // Pressure sensor slope and offset values for a gauge pressure reading in bar
     // Equation from 25/6/2018 calibration used:
-    // kSPTE0Offset = -2.47
-    // kSPTE0Factor = 12.5
+    const float kSPTE0Offset = -2.33;    
+    const float kSPTE0Factor = 12.0;
+        
+    const float kSPTE1Offset = -2.47;    
+    const float kSPTE1Factor = 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 = 1;
+    const int kNumJoints = 1;// if hard leg used again - use 4
 
-    const char *kJointNames[]     = {"Knee"};//{"1","Knee","3","4"};
-    const float kOffsetsDegrees[] = {250};//{180,180,180,180};
-    const bool kDirections[] = {true};//{true,true,true,true};
+    const char *kJointNames[]     = {"Knee"};// if hard leg used again - use {"Toes","Ankle","Knee","Hip"}
+    const float kOffsetsDegrees[] = {250};// if hard leg used again - use {83.2f,6.3f,170.7f,6.5f}
+    const bool kDirections[] = {true};// if hard leg used again - use {false,true,false,true}
 }
 
 namespace timing {
     const int TimeControlHertz = 1000;// control loop sample rate
     const int LogDataHertz = 249; //data log sample rate
-    const int SerialPrintHertz = 2; //print rate of serial 
+    const int SerialPrintHertz = 2; //print rate of serial
+    
+    //corresponding values as a period
     const int kTimeControlUs            =   1000000/TimeControlHertz;   // 1000 Hz control loop
     const int kTimeLogDataUs            =  1000000/LogDataHertz;   //   200 Hz data logging
     const int kTimeSerialPrintUs        = 1000000/SerialPrintHertz;   //    2 Hz serial print
-    const int minKeyInt                   = 1;                  //minimum key press interval in s
-    const int kSerialBaudrate = 115200;
     
-    const int PWMHertz = 10000;
+    const int minKeyInt                   = 1;                  //minimum key press interval in s. if key is pressed more than once in this time interval it will just register as one press
+    const int kSerialBaudrate = 115200; //serial data rate
+    
+    const int PWMHertz = 10000;//linear actuator PWM frequency
 }
 
 namespace rigStructure {