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@10:77fcbad99a31, 2020-02-17 (annotated)
- Committer:
- cnckiwi31
- Date:
- Mon Feb 17 15:15:24 2020 +0000
- Revision:
- 10:77fcbad99a31
- Parent:
- 5:63063a9fa51c
- Child:
- 11:fc82dd22a527
Latest commit
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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megrootens | 0:3855d4588f76 | 1 | #include "constants.h" |
megrootens | 0:3855d4588f76 | 2 | |
megrootens | 0:3855d4588f76 | 3 | namespace sensors { |
cnckiwi31 | 5:63063a9fa51c | 4 | const bool use5kN = true; |
megrootens | 0:3855d4588f76 | 5 | |
megrootens | 0:3855d4588f76 | 6 | // LCM101-100kgf force sensor |
cnckiwi31 | 5:63063a9fa51c | 7 | // Equation from 7/6/2018 calibration used: |
cnckiwi31 | 5:63063a9fa51c | 8 | // kLcm101Offset = 1.99 |
cnckiwi31 | 5:63063a9fa51c | 9 | // kLcm101Factor = 969.2 |
cnckiwi31 | 5:63063a9fa51c | 10 | // Equation from 8/3/2019 calibration used: |
cnckiwi31 | 5:63063a9fa51c | 11 | // kLcm101Offset = 4.31 |
cnckiwi31 | 5:63063a9fa51c | 12 | // kLcm101Factor = 1001.1 |
cnckiwi31 | 5:63063a9fa51c | 13 | |
cnckiwi31 | 5:63063a9fa51c | 14 | const float kLcm101Offset = 4.31;//-1.52; |
Technical_Muffin | 2:84d479fe9b5e | 15 | //This is currently the offset for the S610 sensor -5.41; |
Technical_Muffin | 2:84d479fe9b5e | 16 | //Offset for LCM101 sensor = -1.52 |
cnckiwi31 | 5:63063a9fa51c | 17 | const float kLcm101Factor = 1001.1;//970.55; |
Technical_Muffin | 2:84d479fe9b5e | 18 | //This is currently the factor for the S610 sensor 977.35; |
Technical_Muffin | 2:84d479fe9b5e | 19 | //Factor for LCM101 sensor is 970.55 |
cnckiwi31 | 4:1cdce6c6c94e | 20 | |
cnckiwi31 | 5:63063a9fa51c | 21 | // Gen5kN force sensor |
cnckiwi31 | 5:63063a9fa51c | 22 | // Equation from 21/2/2019 calibration used: |
cnckiwi31 | 5:63063a9fa51c | 23 | // kLcm101Offset = 21.2 |
cnckiwi31 | 5:63063a9fa51c | 24 | // kLcm101Factor = 5530 |
cnckiwi31 | 5:63063a9fa51c | 25 | |
cnckiwi31 | 10:77fcbad99a31 | 26 | const float kGen5kNOffset = 0; |
cnckiwi31 | 5:63063a9fa51c | 27 | const float kGen5kNFactor = 5530; |
cnckiwi31 | 5:63063a9fa51c | 28 | |
cnckiwi31 | 4:1cdce6c6c94e | 29 | // Pressure sensor slope and offset values for a gauge pressure reading in bar |
cnckiwi31 | 5:63063a9fa51c | 30 | // Equation from 25/6/2018 calibration used: |
cnckiwi31 | 5:63063a9fa51c | 31 | // kSPTE0Offset = -2.47 |
cnckiwi31 | 5:63063a9fa51c | 32 | // kSPTE0Factor = 12.5 |
cnckiwi31 | 4:1cdce6c6c94e | 33 | |
cnckiwi31 | 5:63063a9fa51c | 34 | // Equation from 21/2/2019 calibration used |
cnckiwi31 | 5:63063a9fa51c | 35 | // kSPTE0Offset = -2.33 |
cnckiwi31 | 5:63063a9fa51c | 36 | // kSPTE0Factor = 12.0 |
cnckiwi31 | 5:63063a9fa51c | 37 | |
cnckiwi31 | 5:63063a9fa51c | 38 | const float kSPTE0Offset = -2.33; |
cnckiwi31 | 5:63063a9fa51c | 39 | |
cnckiwi31 | 5:63063a9fa51c | 40 | const float kSPTE0Factor = 12.0; |
cnckiwi31 | 4:1cdce6c6c94e | 41 | |
cnckiwi31 | 4:1cdce6c6c94e | 42 | const float kSPTE1Offset = -2.47; |
cnckiwi31 | 4:1cdce6c6c94e | 43 | |
cnckiwi31 | 4:1cdce6c6c94e | 44 | const float kSPTE1Factor = 12.5; // |
Technical_Muffin | 2:84d479fe9b5e | 45 | |
megrootens | 0:3855d4588f76 | 46 | // AS5048 abs angle sensor chain |
cnckiwi31 | 5:63063a9fa51c | 47 | const int kNumJoints = 1; |
megrootens | 0:3855d4588f76 | 48 | |
cnckiwi31 | 5:63063a9fa51c | 49 | const char *kJointNames[] = {"Knee"};//{"1","Knee","3","4"}; |
cnckiwi31 | 5:63063a9fa51c | 50 | const float kOffsetsDegrees[] = {76.9};//{180,180,180,180}; |
cnckiwi31 | 5:63063a9fa51c | 51 | const bool kDirections[] = {true};//{true,true,true,true}; |
megrootens | 0:3855d4588f76 | 52 | } |
megrootens | 0:3855d4588f76 | 53 | |
megrootens | 0:3855d4588f76 | 54 | namespace timing { |
cnckiwi31 | 5:63063a9fa51c | 55 | const int TimeControlHertz = 1000;// control loop sample rate |
cnckiwi31 | 5:63063a9fa51c | 56 | const int LogDataHertz = 250; //data log sample rate |
cnckiwi31 | 5:63063a9fa51c | 57 | const int SerialPrintHertz = 2; //print rate of serial |
cnckiwi31 | 4:1cdce6c6c94e | 58 | const int kTimeControlUs = 1000000/TimeControlHertz; // 1000 Hz control loop |
cnckiwi31 | 4:1cdce6c6c94e | 59 | const int kTimeLogDataUs = 1000000/LogDataHertz; // 200 Hz data logging |
cnckiwi31 | 5:63063a9fa51c | 60 | const int kTimeSerialPrintUs = 1000000/SerialPrintHertz; // 2 Hz serial print |
megrootens | 0:3855d4588f76 | 61 | |
megrootens | 0:3855d4588f76 | 62 | const int kSerialBaudrate = 115200; |
cnckiwi31 | 5:63063a9fa51c | 63 | } |
cnckiwi31 | 5:63063a9fa51c | 64 | |
cnckiwi31 | 5:63063a9fa51c | 65 | namespace rigStructure { |
cnckiwi31 | 5:63063a9fa51c | 66 | const bool invertedRig = false; //indicates if rig is inverted or not (for internal torque calculation) |
megrootens | 0:3855d4588f76 | 67 | } |