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: constants.h
- Revision:
- 5:63063a9fa51c
- Parent:
- 4:1cdce6c6c94e
- Child:
- 10:77fcbad99a31
diff -r 1cdce6c6c94e -r 63063a9fa51c constants.h --- a/constants.h Fri Oct 12 12:12:55 2018 +0000 +++ b/constants.h Mon Dec 09 10:51:46 2019 +0000 @@ -26,15 +26,23 @@ #define SPTE_0 A0 #define SPTE_1 A5 +//Festo digital valve (one for inflate) +#define VALVE_PIN D8 + /** * Sensor settings and calibration data */ namespace sensors { + extern const bool use5kN; // LCM101-100kgf force sensor extern const float kLcm101Offset; extern const float kLcm101Factor; + // Gen5kN force sensor + extern const float kGen5kNOffset; + extern const float kGen5kNFactor; + //SPTE pressure sensors (0-10bar for 0-5V output) extern const float kSPTE0Offset; extern const float kSPTE0Factor; @@ -50,12 +58,18 @@ } namespace timing { + extern const int LogDataHertz; //data log sample rate extern const int kTimeControlUs; // control loop + extern const int LogDataHertz; // data logging extern const int kTimeLogDataUs; // data logging - extern const int kTimeSerialPrintUs; // serial printing + extern const int TimeControlHertz; // control loop sample rate + extern const int kTimeSerialPrintUs; // serial printing extern const int kSerialBaudrate; } +namespace rigStructure { + extern const bool invertedRig; //indicates if rig is inverted or not (for internal torque calculation) +} #endif \ No newline at end of file