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:
- cnckiwi31
- Date:
- 2020-02-17
- Revision:
- 10:77fcbad99a31
- Parent:
- 5:63063a9fa51c
- Child:
- 11:fc82dd22a527
File content as of revision 10:77fcbad99a31:
#include "constants.h" namespace sensors { const bool use5kN = true; // LCM101-100kgf force sensor // 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 = 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 = 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 // 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 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 = 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 = 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) }