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
Diff: bench.h
- Revision:
- 4:1cdce6c6c94e
- Parent:
- 0:3855d4588f76
- Child:
- 5:63063a9fa51c
diff -r 3fd9f1a00381 -r 1cdce6c6c94e bench.h --- a/bench.h Tue Jun 05 08:51:45 2018 +0000 +++ b/bench.h Fri Oct 12 12:12:55 2018 +0000 @@ -4,6 +4,7 @@ #include "mbed.h" #include "as5048.h" #include "lcm101.h" +#include "SPTEPressureSensor.h" #include "constants.h" /** @@ -11,6 +12,8 @@ * the upper and lower leg, foot en toe setup with 1-dof hinges, * each of which is equipped with an AMS AS5048 absolute rotary sensor. * The sensors are daisy chained and communicate via SPI + * also includes a load cell measuring the vertical force applied externally to + * the hip and pressure sensors connected to the setup */ class Bench { public: @@ -25,7 +28,7 @@ HIP }; - Bench(PinName mosi, PinName miso, PinName sck, PinName cs, PinName p_lcm101); + Bench(PinName mosi, PinName miso, PinName sck, PinName cs, PinName p_lcm101, PinName p_spte0, PinName p_spte1); void Update(); @@ -40,6 +43,12 @@ const char* getJointName(Joint joint); float getForce(); + void nullForce(); + + float getPressure0(); + void nullPressure0(); + float getPressure1(); + void nullPressure1(); As5048* get_as5048(); @@ -47,6 +56,8 @@ private: As5048 as5048_; Lcm101 lcm101_; + SPTEPressureSensor spte0; + SPTEPressureSensor spte1; }; #endif \ No newline at end of file