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:
- Technical_Muffin
- Date:
- 2018-06-05
- Revision:
- 2:84d479fe9b5e
- Parent:
- 0:3855d4588f76
- Child:
- 4:1cdce6c6c94e
File content as of revision 2:84d479fe9b5e:
#include "constants.h" namespace sensors { // LCM101-100kgf force sensor const float kLcm101Offset = -1.52; //This is currently the offset for the S610 sensor -5.41; //Offset for LCM101 sensor = -1.52 const float kLcm101Factor = 970.55; //This is currently the factor for the S610 sensor 977.35; //Factor for LCM101 sensor is 970.55 // 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; }