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
constants.cpp
- Committer:
- megrootens
- Date:
- 2017-12-01
- Revision:
- 0:3855d4588f76
- Child:
- 2:84d479fe9b5e
File content as of revision 0:3855d4588f76:
#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; }