Revision 15:a84d54e25775, committed 2020-10-26

Comitter:

cnckiwi31

Date:

Mon Oct 26 11:55:27 2020 +0000

Parent:

14:dd4193213be9

Commit message:

Code ready for inclusion in documentation (compiles, but no last check on runBenchmarkExperiment1() code done)

Changed in this revision

diff -r dd4193213be9 -r a84d54e25775 AS5048.lib
--- a/AS5048.lib	Mon Oct 26 08:33:02 2020 +0000
+++ b/AS5048.lib	Mon Oct 26 11:55:27 2020 +0000
@@ -1,1 +1,1 @@
-https://developer.mbed.org/users/megrootens/code/AS5048/#1b84babf3042
+https://os.mbed.com/users/cnckiwi31/code/AS5048/#1b84babf3042

diff -r dd4193213be9 -r a84d54e25775 LCM101.lib
--- a/LCM101.lib	Mon Oct 26 08:33:02 2020 +0000
+++ b/LCM101.lib	Mon Oct 26 11:55:27 2020 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/users/cnckiwi31/code/LCM101/#f7af875abe50
+https://os.mbed.com/users/cnckiwi31/code/LCM101_DROPSAW/#f7af875abe50

diff -r dd4193213be9 -r a84d54e25775 bench.cpp
--- a/bench.cpp	Mon Oct 26 08:33:02 2020 +0000
+++ b/bench.cpp	Mon Oct 26 11:55:27 2020 +0000
@@ -1,6 +1,21 @@
+/*  Copyright 2020 Allan Joshua Veale
+ 
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+ 
+        http://www.apache.org/licenses/LICENSE-2.0
+ 
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
 #include "bench.h"
 
-/**
+/** constructor
  * Create an object representing the test rig
  * @param mosi: mosi pin for sensor chain (SPI angle sensors)
  * @param miso: miso pin for sensor chain (SPI angle sensors)
@@ -38,16 +53,16 @@
     //init serial things
     pc.baud(timing::kSerialBaudrate);//set the serial rate
     
-    sd_card_present = false;
-    fname_prepend = 0;
-    is_logging = false;
-    is_printing = false;
-    was_printing = false;
+    sd_card_present = false;//have not checked for an sd card
+    fname_prepend = 0;//have not checked what is on the sd card
+    is_logging = false;//not datalogging
+    is_printing = false;//not printing anything
+    was_printing = false;//was not printing
         
-    usedExtraCols = 0;
+    usedExtraCols = 0;//default
     
     firstReadMS = 0; //first timer value read
-    startedLogging = false; //in the middle of a logging cycle
+    startedLogging = false; //not in the middle of a logging cycle
     
     keyIntOffset = timing::minKeyInt;//any right keypress is ok at the start
     k = '\0'; //keyboard value starts off as a null value
@@ -56,6 +71,7 @@
     loggingUS = timing::kTimeLogDataUs;    
     loggingHz = (int)(1000000/timing::kTimeLogDataUs); 
     
+    //set all angle sensor calibration data
     for (int i=0; i<sensors::kNumJoints; ++i) {
         as5048_.setOffsetDegrees(i,sensors::kOffsetsDegrees[i]);
         as5048_.setDirection(i,sensors::kDirections[i]);
@@ -69,7 +85,7 @@
  */
 void Bench::initialise()
 {
-    //setup the timing
+    //setup the timing for the control loop (which only reads the angle sensors)
     tick_update.attach_us(this,&Bench::update,timing::kTimeControlUs);
             
     // set rate at which data is printed
@@ -80,7 +96,7 @@
     
     //display welcome message
     pc.printf("\r\n**Hello!**\r\n");
-    pc.printf("Version: 3/12/2019 - 00:00\r\n\n");
+    pc.printf("Version: V4\r\n\n");
     
     Bench::pc.printf("5kN load cell? %s\r\n\n",sensors::use5kN?"Yes":"No");
     
@@ -95,7 +111,7 @@
 }
 
 /**
- * Sets the rate at which data is logged in an experiment
+ * Sets the rate at which data is logged in an experiment - when automatic datalogging is used
  * @param hertz: logging frequency in Hz
  */
 void Bench::setLoggingFrequency(float hertz)
@@ -104,26 +120,25 @@
     if (hertz > 0) {
         loggingUS = 1000000/hertz;
         loggingHz = hertz;
-    } else {
+    } else { //default if bad value supplied
         loggingUS = timing::kTimeLogDataUs;
         loggingHz = (int)(1000000/timing::kTimeLogDataUs);
     }
 }
 
 /**
- * Sets names of extra columns of data to be recorded
+ * Sets names of extra columns of data to be recorded (those more than maxCols are 
+ * ignored)
  * @param extraColumnNames: string array of the column names
  * @param numCols: number of elements in the string array
  */
 void Bench::setExtraColumns(string extraColumnNames[], int numCols)
 {
     usedExtraCols = numCols;
-    //pc.printf("Length: %i\r\n",usedExtraCols);
     // save the names   
     for(int i=0; i<maxCols; i++) {
         if (i<numCols) {
             extraColNames[i] = extraColumnNames[i];
-            //pc.printf("\r\nS%d: %s\r\n",i,extraColNames[i]);
         } else {
             extraColNames[i] = ""; //less columns than the max possible are filled with a null space
         }
@@ -139,9 +154,7 @@
 {
     for (int i=0; i<usedExtraCols; i++) {
         extraColValues[i] = data[i];
-        //pc.printf("\r\nD%d: %f\r\n",i,extraColValues[i]);
-    }
-    
+    }    
 }
 
 // = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =
@@ -151,7 +164,6 @@
 /**
  * Update routine for the test rig
  * - Updates the angle buffer of the sensor array
- * - ... that's it for now (add filtering?)
  * Note that angles lag one update() behind, due to the way the SPI
  * protocol works.
  */
@@ -163,18 +175,6 @@
 /**
  * Obtain the joint angle in degrees
  * These are the angles at the time of two Update() calls back
- * @param joint: the joint for which the angle is requested (as enumerated in 
- * class header - TOES, KNEE, ANKLE, HIP
- * @return: joint angle
- */
-float Bench::getDegrees(Joint joint) 
-{
-    return getDegrees(joint);
-}
-
-/**
- * Obtain the joint angle in degrees
- * These are the angles at the time of two Update() calls back
  * @param joint: the joint for which the angle is requested (a number starting 
  * from 0 indicating the position in the sensor daisy chain)
  * @return: joint angle
@@ -189,44 +189,18 @@
 }
 
 /**
- * Obtain the joint angle in radians
- * These are the angles at the time of two Update() calls back
- * @param joint: the joint for which the angle is requested (as enumerated in 
- * class header - TOES, KNEE, ANKLE, HIP
- * @return: joint angle
- */
-float Bench::getRadians(Joint joint) 
-{
-    return getRadians(joint);
-}
-
-/**
- * Obtain the joint angle in radians
- * These are the angles at the time of two Update() calls back
  * @param joint: the joint for which the angle is requested (a number starting 
  * from 0 indicating the position in the sensor daisy chain)
- * @return: joint angle
+ * @return the name of the joint number
  */
-float Bench::getRadians(int i_joint) 
-{
-    float ang = as5048_.getAngleRadians(i_joint);
-    if (ang>kCutOffRadians) {
-        return ang-As5048::kRadPerRev;
-    }
-    return ang;
-}
-
-
 const char* Bench::getJointName(int i_joint) 
 {
     return sensors::kJointNames[i_joint];
 }
 
-const char* Bench::getJointName(Joint joint) 
-{
-    return getJointName(joint);
-}
-
+/**
+ * @return the encoder object reference
+ */
 As5048* Bench::get_as5048() 
 {
     return &as5048_;
@@ -246,6 +220,9 @@
     
 }
 
+/**
+ * zero the force reading (like a tare function)
+ */
 void Bench::nullForce()
 {
     if (use5kN) {
@@ -264,16 +241,26 @@
     return spte0.getPressure();
 }
 
+/**
+ * zero the pressure reading (like a tare function)
+ */
 void Bench::nullPressure0()
 {
     return spte0.nullPressure();
 }
 
+/**
+ * The pressure measured by pressure sensor 0 in bar
+ * @return: pressure
+ */
 float Bench::getPressure1() 
 {
     return spte1.getPressure();
 }
 
+/**
+ * zero the pressure reading (like a tare function)
+ */
 void Bench::nullPressure1()
 {
     return spte1.nullPressure();
@@ -323,6 +310,7 @@
 {
     LinAct.setPWM(pwm);
 }
+
 // = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =
 // IMPLEMENTATION DATA LOGGING
 // = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =
@@ -342,9 +330,10 @@
     struct dirent *p;
 
     d = opendir("/sd");
-    if (d != NULL) {
+    if (d != NULL) {//if there is an SD card
         sd_card_present = true;
-
+        
+        //print existing files
         pc.printf("\t> Contents of SD Card:\r\n");
         while ((p = readdir(d)) != NULL) {
             if (p->d_name[0] != '.') {
@@ -367,7 +356,9 @@
 }
 
 /**
- * Start logging data
+ * Start logging data (now manual, meaning user has to call a method to record a datapoint
+ * but if tick_logging.attach...(...) is uncommmented
+ * then recording becomes automatic)
  * param fname_append: a string describing the name appended to each logged file
  * (along with its unique loggging number).
  */
@@ -375,7 +366,6 @@
 {    
     pc.printf("\r\nDATA LOGGING");
     if (sd_card_present) {
-
         // create unique file name
         ++fname_prepend;
         char fname[50];
@@ -386,24 +376,19 @@
         // open file for writing and start logging after success
         fp_data = fopen(fname,"w");
         if (fp_data==NULL) {
-            pc.printf("\t> ERROR: failed to open log file (t=%d ms)\r\n",
-                      timer.read_ms());
+            pc.printf("\t> ERROR: failed to open log file (t=%d ms)\r\n",timer.read_ms());
         } else {
-            string fHeader = "time (s),theta_knee (deg),force (N),pressure (kPa)";
+            string fHeader = "time (s),theta_knee (deg),force (N),pressure (kPa)";//default data points recorded
             
             for (int i=0; i<usedExtraCols; i++) {
                 if (extraColNames[i] != "") {
                     fHeader = fHeader + "," + extraColNames[i];
                 }
             }
-            //pc.printf("%s", fHeader.c_str());
             fprintf(fp_data, "%s", fHeader.c_str());
-            //tick_logging.attach_us(this,&Bench::LogData,loggingUS);
-            timer.start();
-            startedLogging = true;
-            
-            //pc.printf("\t> Logging started.\r\n");
-            
+            //tick_logging.attach_us(this,&Bench::LogData,loggingUS); - uncomment to automatically log data
+            timer.start();//enable a time stamp for the logging file
+            startedLogging = true;            
             is_logging = true;
         }
     } else {
@@ -430,8 +415,7 @@
         // open file for writing and start logging after success
         fp_data = fopen(fname,"w");
         if (fp_data==NULL) {
-            pc.printf("\t> ERROR: failed to open log file (t=%d ms)\r\n",
-                      timer.read_ms());
+            pc.printf("\t> ERROR: failed to open log file (t=%d ms)\r\n",timer.read_ms());
         } else {            
             timer.start();
             startedLogging = true;
@@ -447,13 +431,13 @@
 }
 
 /**
- * Stop logging data.
+ * Stop automatically logging data.
  */
 void Bench::StopLogging()
 {
     Bench::pc.printf("\r\nDATA LOGGING:");
     if (sd_card_present) {
-        // close data file, stop logging
+        // close data file, stop logging, reset time stamp
         fclose(fp_data);
         tick_logging.detach();
         timer.stop();
@@ -461,8 +445,7 @@
         Bench::pc.printf("\r> Stopped.");
     } else {
         Bench::pc.printf("\t> No data was logged.");
-    }
-    
+    }    
     is_logging = false;
 }
 
@@ -479,26 +462,27 @@
 }
 
 /**
- * Log data
+ * Log data (record all the data points, default and custom with a timestamp)
  */
 void Bench::LogData()
 {
     int currTime = timer.read_ms();
-    if(startedLogging) {
+    if(startedLogging) {//the first time this is called, save the timer offset
         firstReadMS = currTime;
         startedLogging = false;
     }
-    double currTimeS = ((double)currTime - firstReadMS)/1000;
+    double currTimeS = ((double)currTime - firstReadMS)/1000;//time stamp
     
     // time
     fprintf(fp_data,"\n%f",currTimeS);
 
-    // bench: joint angles and force sensor and pressure sensor values
+    // bench default datapoints: joint angles and force sensor and pressure sensor values
     fprintf(fp_data,",%f,%f,%f",
             getDegrees(0),
             getForce(),            
             getPressure0()*100
            );
+    //custom datapoints
     for (int i=0; i<usedExtraCols; i++) {
         fprintf(fp_data,",%f",extraColValues[i]);
     }            
@@ -515,19 +499,20 @@
     if (is_printing) {
         if(sd_card_present)
         {
+            //file name and whether logging is happening
             Bench::pc.printf("\tFile number %15i\r\n", fname_prepend);
             Bench::pc.printf("\tLogging? %18s\r\n",is_logging?"Yes":"No");
         }
         
+        //angles printed
         for (int i=0; i<sensors::kNumJoints; ++i)
         {
             string jointName = sensors::kJointNames[i];
             jointName = jointName + " (deg)";
             Bench::pc.printf("\t%15s %7.2f\r\n",jointName, getDegrees(i));
         }
-        Bench::pc.printf("\t%15s %7.2f\r\n","Force (N)",  getForce()); 
-        
-        Bench::pc.printf("\t%15s %7.2f\r\n","Pressure0 (kPa)",  getPressure0()*100);   
+        Bench::pc.printf("\t%15s %7.2f\r\n","Force (N)",  getForce()); //force reading        
+        Bench::pc.printf("\t%15s %7.2f\r\n","Pressure0 (kPa)",  getPressure0()*100); //pressure reading 
     }
 }
 
@@ -570,25 +555,24 @@
 // = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =
 
 /**
- * d toggles printing state of sensors and l toggles logging of data
+ * s toggles printing state of sensors and l toggles logging of data
  * use the keyboard on the pc
- * do not press longer than a second or it will toggle back
+ * do not press longer than a minKeyInt or it will toggle back
  */
 void Bench::ToggleState(MODSERIAL_IRQ_INFO *q)
 {
     //if we have data and it was not too soon since the last data
     if(Bench::pc.readable() && (((Bench::keyIntT.read() + keyIntOffset) >= timing::minKeyInt))) {
-    k = Bench::pc.getc();//read the keystroke
-        Bench::pc.rxBufferFlush();
-        //toggle status of logging
+        k = Bench::pc.getc();//read the keystroke
+        Bench::pc.rxBufferFlush();//delete all recorded keystrokes
+        
         if(k == 's') {//toggle printing of data
             Bench::pc.printf("\tInput: %c\r\n",k);
             TogglePrinting();
             keyIntT.reset();
             keyIntT.start();
             keyIntOffset = 0;
-
-        } else if (k == 'l') {
+        } else if (k == 'l') {//toggle status of logging
             Bench::pc.printf("\tInput: %c\r\n",k);
             ToggleLogging();
             keyIntT.reset();
@@ -608,7 +592,7 @@
         is_printing = true;
     } else {
         is_printing = false;
-        PrintMenu();
+        PrintMenu();//data no longer printed, print home menu
     }
     was_printing = is_printing;
 }
@@ -623,7 +607,6 @@
     } else {
         is_logging = false;
     }        
-    //PrintMenu();
 }
 
 /**

diff -r dd4193213be9 -r a84d54e25775 bench.h
--- a/bench.h	Mon Oct 26 08:33:02 2020 +0000
+++ b/bench.h	Mon Oct 26 11:55:27 2020 +0000
@@ -1,3 +1,18 @@
+/*  Copyright 2020 Allan Joshua Veale
+ 
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+ 
+        http://www.apache.org/licenses/LICENSE-2.0
+ 
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
 #ifndef _BENCH02_H_
 #define _BENCH02_H_
 #include "MODSERIAL.h"
@@ -15,30 +30,21 @@
 #include "LinearActuator.h"
 
 /**
- * Class to read out sensory information from the second test bench:
+ * Class to read out sensory information from the test rig:
  * the knee joint angle as measured by an AMS AS5048 absolute rotary sensor
  * the vertical force applied externally at the hip joint
  * the pressure (for example of an actuator used in the device under test).
- * Additionally, an on /off valve can pressurise the actuator on the leg
+ * Additionally, an on /off valve can pressurise the actuator on the leg and a linear
+ * actuator can be used to raise and lower the test leg
  */
 class Bench {
 public:
     
-    static const float kCutOffDegrees = 180.0f;
+    //angle is only allowed to be< this value 
+    static const float kCutOffDegrees = 180.0f; 
     static const float kCutOffRadians = 3.14159265359f;
-    
-    enum Joint {
-        TOES,
-        ANKLE,
-        KNEE,
-        HIP
-    };
-    
-    enum DACChannel {
-        A,
-        B
-    };
-    
+   
+   
     // constructor
     Bench(PinName mosi = AS5048_MOSI, PinName miso = AS5048_MISO, PinName sck = AS5048_SCLK, PinName cs = AS5048_CS, 
         bool use5kN = sensors::use5kN,PinName p_lcm101 = LCM101, 
@@ -50,59 +56,50 @@
     //setup
     void initialise();
     
-    void setLoggingFrequency(float logHertz);
-    void setExtraColumns(string extraColumnNames[], int numCols);
-    void setExtraData(float data[]);
-    void update(); 
+    void setLoggingFrequency(float logHertz); //set datalogging frequency (for when automatic data logging is used - not in this code)
+    void setExtraColumns(string extraColumnNames[], int numCols);//manually add extra columns of data so user can have custom data recorded
+    void setExtraData(float data[]);//manually add extra datapoints
+    void update(); //read angle data afresh
 
     bool isLogging();//indicates if we are now datalogging
-    void stopLogging();//halts the data logging if we are now datalogging
-    void StopLogging(); //halts the data logging if we are now datalogging
-    void StartLogging(const char * fname_append = "data"); //starts datalogging
+    void stopLogging();//halts the manual data logging if we are now datalogging
+    void StopLogging(); //halts the automatic data logging if we are now datalogging
+    void StartLogging(const char * fname_append = "data"); //starts datalogging (now manual)
     void RestartLogging(const char * fname_append = "data");//restart datalogging
-    void LogData();
+    void LogData(); //records the predetermined datapoints (and those in extracolumns)
     
-    //reading angle sensors
+    //for reading angle sensors
     As5048* get_as5048();
     
-    float getDegrees(int i_joint);
-    float getDegrees(Joint joint);
-
-    float getRadians(int i_joint);
-    float getRadians(Joint joint);
+    float getDegrees(int i_joint); //read angle
+    const char* getJointName(int i_joint);//return joint name
 
-    const char* getJointName(int i_joint);
-    const char* getJointName(Joint joint);
-
-    //reading and calibrating force and pressure sensors
-    float getForce();
-    void nullForce();
+    //for reading and calibrating force and pressure sensors
+    float getForce();//read force
+    void nullForce();//tare reading
     
-    float getPressure0();
-    void nullPressure0();
-    float getPressure1();
-    void nullPressure1();
+    float getPressure0();//read pressure
+    void nullPressure0();//tare reading
+    float getPressure1();//read pressure
+    void nullPressure1();//tare reading
     
-    //MAX5322 DACs (two channels per DAC)
-    void setDACA(DACChannel ch, unsigned int bitValue);
-    void setDACB(DACChannel ch, unsigned int bitValue);
     
-    //controlling valve
-    bool getValve();
-    void setValve(bool pressurise); 
+    //for controlling valve
+    bool getValve();//return valve state
+    void setValve(bool pressurise); //turn valve on/off
     
     // controlling linear actuator
-    void setDir(bool dir);
-    bool getDir();
-    void setPWM(int pwm);    
+    void setDir(bool dir);//set actuator direction
+    bool getDir();//return actuator direction
+    void setPWM(int pwm);  //actuator speed  
     
     /** Object for printing/receiving data to the PC the test rig is connected 
     * to. Note that it uses the MODSERIAL.h class.
     */
     MODSERIAL pc;
     
-    void pausePrint();
-    void resumePrint();
+    void pausePrint();//stops automatic printing of data
+    void resumePrint();//resumes automatic printing of data
     
 private:
     //timing
@@ -118,8 +115,8 @@
     
     bool is_logging;
     bool is_printing;
-    bool was_printing; //if printing is paused true if is_printing was true
-    char k; //value from keyboard
+    bool was_printing; //if printing is paused true, or if is_printing was true
+    char k; //value from keyboard press
             
     //joint angle 
     As5048 as5048_;
@@ -144,22 +141,23 @@
     FILE * fp_data;
     int fname_prepend;//file number
     bool sd_card_present;//card detected    
-       
+    void InitSdCard(); //setup the SD card
+    
+    // recording extra data   
     static const int maxCols = 5;
     int usedExtraCols; //number of extra columns useds
     string extraColNames[maxCols];//names of extra columns (up to maxCols allowed with 15 characters)  
     float extraColValues[maxCols];//value held in extra columns for current time step
-       
-    void InitSdCard();      
+                
 
     //for toggling logging or printing
-    void ToggleState(MODSERIAL_IRQ_INFO *q);
+    void ToggleState(MODSERIAL_IRQ_INFO *q);//method for parsing keyboard presses
 
-    void ToggleLogging();
+    void ToggleLogging();//change state of logging (between on and off)
     
     // serial printing
-    void TogglePrinting();
-    void PrintStatus();
-    void PrintMenu();  
+    void TogglePrinting(); //change state of printing (between on and off)
+    void PrintStatus();//print the read out from the test rig sensors
+    void PrintMenu();  //print the standard menu showing which keys control what in the test rig
 };
 #endif
\ No newline at end of file

diff -r dd4193213be9 -r a84d54e25775 constants.cpp
--- a/constants.cpp	Mon Oct 26 08:33:02 2020 +0000
+++ b/constants.cpp	Mon Oct 26 11:55:27 2020 +0000
@@ -1,9 +1,30 @@
+/*  Copyright 2020 Allan Joshua Veale
+ 
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+ 
+        http://www.apache.org/licenses/LICENSE-2.0
+ 
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
 #include "constants.h"
 
+/** Default values for constants
+ */
+
 namespace sensors {
     const bool use5kN = false;
     
     // LCM101-100kgf force sensor
+    const float kLcm101Offset = -1.5;
+    const float kLcm101Factor = 970.55;
+    
     // Equation from 7/6/2018 calibration used:
     // kLcm101Offset = 1.99
     // kLcm101Factor = 969.2
@@ -11,57 +32,51 @@
     // kLcm101Offset = 4.31
     // kLcm101Factor = 1001.1
     
-    const float kLcm101Offset = -1.5;//-1.52;
-    //This is currently the offset for the S610 sensor -5.41;
-    //Offset for LCM101 sensor = -1.52
-    const float kLcm101Factor = 970.55;//970.55;
-    //This is currently the factor for the S610 sensor 977.35;
-    //Factor for LCM101 sensor is 970.55
     
     // Gen5kN force sensor
+    const float kGen5kNOffset = 0;
+    const float kGen5kNFactor = 5530; 
+    
     // 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
+    const float kSPTE0Offset = -2.33;    
+    const float kSPTE0Factor = 12.0;
+        
+    const float kSPTE1Offset = -2.47;    
+    const float kSPTE1Factor = 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 int kNumJoints = 1;// if hard leg used again - use 4
 
-    const char *kJointNames[]     = {"Knee"};//{"1","Knee","3","4"};
-    const float kOffsetsDegrees[] = {250};//{180,180,180,180};
-    const bool kDirections[] = {true};//{true,true,true,true};
+    const char *kJointNames[]     = {"Knee"};// if hard leg used again - use {"Toes","Ankle","Knee","Hip"}
+    const float kOffsetsDegrees[] = {250};// if hard leg used again - use {83.2f,6.3f,170.7f,6.5f}
+    const bool kDirections[] = {true};// if hard leg used again - use {false,true,false,true}
 }
 
 namespace timing {
     const int TimeControlHertz = 1000;// control loop sample rate
     const int LogDataHertz = 249; //data log sample rate
-    const int SerialPrintHertz = 2; //print rate of serial 
+    const int SerialPrintHertz = 2; //print rate of serial
+    
+    //corresponding values as a period
     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 minKeyInt                   = 1;                  //minimum key press interval in s
-    const int kSerialBaudrate = 115200;
     
-    const int PWMHertz = 10000;
+    const int minKeyInt                   = 1;                  //minimum key press interval in s. if key is pressed more than once in this time interval it will just register as one press
+    const int kSerialBaudrate = 115200; //serial data rate
+    
+    const int PWMHertz = 10000;//linear actuator PWM frequency
 }
 
 namespace rigStructure {

diff -r dd4193213be9 -r a84d54e25775 constants.h
--- a/constants.h	Mon Oct 26 08:33:02 2020 +0000
+++ b/constants.h	Mon Oct 26 11:55:27 2020 +0000
@@ -1,3 +1,18 @@
+/*  Copyright 2020 Allan Joshua Veale
+ 
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+ 
+        http://www.apache.org/licenses/LICENSE-2.0
+ 
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
 #ifndef _CONSTANTS_HARDWARE_H_
 #define _CONSTANTS_HARDWARE_H_
 
@@ -7,6 +22,10 @@
 #define M_PI 3.14159265359f
 #endif
 
+/**
+ * Hardware connections to the mbed
+ */
+
 // SPI Communication AS5048 joint encoders
 #define AS5048_MOSI         PTD6        // D11
 #define AS5048_MISO         PTD7        // D12
@@ -30,8 +49,8 @@
 #define LCM101              A1
 
 // SPTE analog output pressure sensors (0-10bar for 0-5V output)
-#define SPTE_0             A0
-#define SPTE_1             A5
+#define SPTE_0             A0 //this is the one currently in use
+#define SPTE_1             A5 //this one is not used, and its use on this pin needs to be tested - hence not in schematics
 
 //Festo digital valve (one for inflate)
 #define VALVE_PIN           D0
@@ -75,9 +94,9 @@
     extern const int kTimeLogDataUs;                    // data logging
     extern const int TimeControlHertz;                  // control loop sample rate
     extern const int kTimeSerialPrintUs;                // serial printing 
-    extern const int minKeyInt;                   //key interval time out value
+    extern const int minKeyInt;                         //key interval time out value
     
-    extern const int kSerialBaudrate;
+    extern const int kSerialBaudrate;                   //frequency of serial port
     
     extern const int PWMHertz;                          //Linear actuator frequency for pwm
 }

diff -r dd4193213be9 -r a84d54e25775 main.cpp
--- a/main.cpp	Mon Oct 26 08:33:02 2020 +0000
+++ b/main.cpp	Mon Oct 26 11:55:27 2020 +0000
@@ -28,9 +28,9 @@
 #include "bench.h"
  
 //Methods describing the tests
-void runFatigueExperiment0(int cycles, float targetkPa, float inflateTimeOut,float deflateTimeOut);
-void runFailureExperiment0(float targetkPa);
-void runBenchmarkExperiment0();
+void runFatigueExperiment0(int cycles, float targetkPa, float inflateTimeOut,float deflateTimeOut,int logHz);
+void runFailureExperiment0(float targetkPa,int logHz);
+void runBenchmarkExperiment0(int logHz);
 void runBenchmarkExperiment1(int minForce, float maxAngle, float inflationT, int pwm, int cycles, int logHz);
 
 // Create bench object - this is used to control the test rig
@@ -40,17 +40,27 @@
  * Main loop
  */
 int main()
-{   
-    leg.setLoggingFrequency(10); //Set datalogging frequency (Hz)
-    
+{       
     /* Two extra columns of data will be recorded in this experiment.
     One for the target pressure, and the other for the number of inflation-deflation
     cycles currently completed in the experiment */ 
-    string colNames[] = {"Target pressure (kPa)","Cycle",}; //add data headings
+    string colNames[] = {"Target pressure (kPa)","Cycle"}; //add data headings
     leg.setExtraColumns(colNames,2);
     
-    float targetP = 300; //Pressure at which inflation is stopped and deflation begins (kPa)                                                                                                                                                                                       
-    int expCycles = 40; //Number of inflation cycles 
+    int logHz = 10; //(Hz) datalogging frequency
+    float targetP = 300; //Pressure at which inflation is stopped and deflation begins (kPa)  
+                                                                                                                                                                                         
+    int fatCycles = 40; //Number of inflation cycles for the fatigue test    
+    float infTimeAllow = 10;// (s) time allowed for inflation in a fatigue cycle
+    float defTimeAllow = 10;// (s) time allowed for deflation in a fatigue cycle
+    
+    //for benchmark experiment
+    float minForce = 5;//(N) force threshold at which leg extension changes to flexion
+    float maxAngle = 70;//(deg) angle threshold at which leg flexion changes to extension
+    float inflationTime = 3;//(s) time actuator given to inflate before starting experiment
+    int pwm = 75; //(%) linear actuator motor pwm
+    int benchCycles = 1;//(-) number of flexion/extension cycles
+    
     float vals[] = {targetP,0}; //set of initial values of data that will be logged
     leg.setExtraData(vals);
     
@@ -62,14 +72,16 @@
     stop it if the button is pressed again to stop datalogging 
     (or when experiment stops - then datalogging stops by itself) */
     while (true) {
-        if (leg.isLogging()) {
-            leg.pc.printf("Logging started");
-            runFatigueExperiment0(expCycles,targetP,10,10);
-            //runBenchmarkExperiment0();
-            runBenchmarkExperiment1(5, 70, 3, 75, 1, 10);
-            //runFailureExperiment0(targetP);        
+        if (leg.isLogging()) {//check if logging has started, if so, run an experiment procedure
+            leg.pc.printf("Logging started");//user feedback
+            
+            //uncomment the type of experiment you want to try
+            runFatigueExperiment0(fatCycles,targetP,infTimeAllow,defTimeAllow,logHz);
+            //runBenchmarkExperiment0(logHz);
+            //runBenchmarkExperiment1(minForce, maxAngle, inflationTime, pwm, benchCycles, logHz);
+            //runFailureExperiment0(targetP,logHz);        
         }
-        wait(0.5);
+        wait(0.5);//wait a bit before checking again
     }
 }
 
@@ -81,13 +93,19 @@
  * @param targetkPa: the pressure at which the valve is opened to let the leg go down (kPa)
  * @param inflateTimeOut: (s) if inflation takes longer than this, experiment is assumed to fail and stops, saving data
  * @param deflateTimeOut: (s) if deflation takes longer than this, experiment is assumed to fail and stops, saving data
+ * @param logHz: datalogging frequency
  */
-void runFatigueExperiment0(int cycles, float targetkPa, float inflateTimeOut, float deflateTimeOut) 
+void runFatigueExperiment0(int cycles, float targetkPa, float inflateTimeOut, float deflateTimeOut,int logHz) 
 {
     //method constants
     Timer flowT;//timer used to time flow into and out of actuator
-    float loopTime = 0.1; //(s) time between checking pressure
-    int num_file = 1; //number of data files to save 
+        
+    float loopTime = 1/logHz; //(s) time between checking pressure
+    
+    //number of data files to save (so we can create a safety barrier 
+    //when lots of cycles are done e.g. you may want 100 cycles in each file 
+    //so if something goes wrong, you will have most of the data, to within a 100 cycles)    
+    int num_file = 1; 
     
     for (int i=0; i<num_file; i++) {
         //record data
@@ -165,6 +183,7 @@
 
         /* Logging stopped as experiment is fully completed (desired number of cycles
         reached)*/
+        leg.pc.printf("\r\nExit Fatigue Test");
         leg.setValve(false); //Depressurise
         leg.StopLogging(); //Stop logging data
         leg.resumePrint(); //Let the Bench class print
@@ -177,11 +196,13 @@
  * increasing the actuator pressure by manually opening up the pressure regulator
  * connected to the actuator. It is also assumed that the user will stop inflation 
  * if they deem the actuator to have failed.
- * Data is recorded at ~10Hz.
  * @param targetkPa: the pressure at which the valve is opened to deflate the actuator (kPa)
+ * @param logHz: datalogging frequency
  */
-void runFailureExperiment0(float targetkPa) 
+void runFailureExperiment0(float targetkPa,int logHz) 
 {    
+    double logTime = 1/logHz;//s interval between logging data
+
     //Pressurise the actuator under test
     leg.StartLogging();
     leg.setValve(true);
@@ -191,12 +212,12 @@
     while(leg.isLogging() && (leg.getPressure0()*100 < targetkPa)) {        
         leg.pc.printf("\r\nPressure (kPa): \t%7.2f",leg.getPressure0()*100);//print the pressure
         leg.LogData();//record a datapoint
-        wait(0.1);//wait
+        wait(logTime);//wait
     }
     
     //Depressurise when the user is done with benchmarking or the target pressure is
     //reached    
-    leg.pc.printf("\r\nExit Benchmarking Test");
+    leg.pc.printf("\r\nExit Failure Test");
     leg.setValve(false);
     leg.StopLogging(); //Stop logging data
     leg.resumePrint(); //Let the Bench class print    
@@ -205,17 +226,19 @@
 /**
  * A method used to benchmark the actuator under test before the linear actuator
  * was fitted to the test rig. It simply pressurises the actuator and records data
- * at ~10 Hz
+ * @param logHz: datalogging frequency
  */
-void runBenchmarkExperiment0()
+void runBenchmarkExperiment0(int logHz)
 {
+    double logTime = 1/logHz;//s interval between logging data
+    
     //Pressurise the actuator under test
     leg.StartLogging();
     leg.setValve(true);//inflation
     while(leg.isLogging()) {//until the user presses the key to stop datalogging        
         leg.pc.printf("\r\nPressure (kPa): \t%7.2f",leg.getPressure0()*100); //print the pressure
         leg.LogData();//record a datapoint
-        wait(0.1);//wait
+        wait(logTime);//wait
     }
     
     //Depressurise when the user is done with benchmarking   
@@ -226,8 +249,8 @@
 }
 
 /**
- * A benchmark test with the linear actuator. The actuator is cycled from its flexed position
- * to the point at which it no longer produces force. This is considered its range of motion.
+ * A benchmark test with the linear actuator. The actuator is cycled from its flexed position,
+ * to the point at which it no longer produces force, and back again. This is considered its range of motion.
  * NOTE - not extensively tested
  * @param minForce: (N) force at which cycle goes from extension to flexion
  * @param maxAngle: (deg) angle at which cycle goes from flexion to extension
@@ -270,7 +293,8 @@
             wait(logTime);//wait
         }
         
-        if (!leg.isLogging()) {//If the user stopped
+        //If the user stopped
+        if (!leg.isLogging()) {
             leg.pc.printf("\r\nUser stopped during extension Exit");
             leg.setPWM(0); //turn off linear actuator
             leg.setValve(false);//Depressurise
@@ -292,7 +316,8 @@
             wait(logTime);//wait
         }
         
-        if (!leg.isLogging()) {//If the user stopped
+        //If the user stopped
+        if (!leg.isLogging()) {
             leg.pc.printf("\r\nUser stopped during flexion Exit");
             leg.setPWM(0); 
             leg.setValve(false);//Depressurise