Allan Veale / LCM101

HeRoS: read out and log joint angles and force sensor data from the leg test bench. Now with additional features to read pressure sensors and set the null values of the pressure and force sensors

Dependents:   heros_leg_readout_torque_addition heros_leg_readout_torque_addition_V3

Fork of LCM101 by K K

lcm101.h@3:22f8cfcad8d6, 2018-10-12 (annotated)

Committer:
cnckiwi31
Date:
Fri Oct 12 12:09:59 2018 +0000
Revision:
3:22f8cfcad8d6
Parent:
2:77cffacfd89e
Child:
4:f7af875abe50
current on 12-10-2018

Who changed what in which revision?

UserRevisionLine numberNew contents of line
megrootens 0:116acb03eb85 1 #ifndef _LCM101_H_
megrootens 0:116acb03eb85 2 #define _LCM101_H_
megrootens 0:116acb03eb85 3
megrootens 0:116acb03eb85 4 #include "mbed.h"
megrootens 0:116acb03eb85 5
megrootens 0:116acb03eb85 6 /**
megrootens 0:116acb03eb85 7 * Simple class to read out an LCM101 S-beam force sensor connected to an analog
megrootens 0:116acb03eb85 8 * input.
megrootens 0:116acb03eb85 9 */
megrootens 0:116acb03eb85 10 class Lcm101 {
megrootens 0:116acb03eb85 11 public:
megrootens 0:116acb03eb85 12
megrootens 0:116acb03eb85 13 /**
megrootens 0:116acb03eb85 14 * @param pin_a_in PinName of analog input
megrootens 0:116acb03eb85 15 * @param offset of analog value (calibration data)
megrootens 0:116acb03eb85 16 * @param factor multiplication factor for analog value (calibration data)
megrootens 0:116acb03eb85 17 */
megrootens 0:116acb03eb85 18 Lcm101(PinName pin_a_in, float offset, float factor) :
megrootens 0:116acb03eb85 19 analog_in_(pin_a_in),
megrootens 0:116acb03eb85 20 kOffset_(offset),
megrootens 0:116acb03eb85 21 kFactor_(factor)
megrootens 0:116acb03eb85 22 {
megrootens 0:116acb03eb85 23 }
megrootens 0:116acb03eb85 24
megrootens 0:116acb03eb85 25 /**
megrootens 0:116acb03eb85 26 * @return unscaled analog input value
megrootens 0:116acb03eb85 27 */
megrootens 0:116acb03eb85 28 float getForceRaw()
megrootens 0:116acb03eb85 29 {
megrootens 0:116acb03eb85 30 return analog_in_.read();
megrootens 0:116acb03eb85 31 }
megrootens 0:116acb03eb85 32
megrootens 0:116acb03eb85 33 /**
megrootens 0:116acb03eb85 34 * @return force value kOffset_ + kFactor_ * getForceRaw();
megrootens 0:116acb03eb85 35 */
megrootens 0:116acb03eb85 36 float getForce()
megrootens 0:116acb03eb85 37 {
megrootens 0:116acb03eb85 38 return kOffset_ + kFactor_ * getForceRaw();
Technical_Muffin 2:77cffacfd89e 39 //it appears that higher order polynomials show better accuracy, within the 40 kg range that is.
Technical_Muffin 2:77cffacfd89e 40 // Awaiting other instructions, a linear fit will be currently used however.
megrootens 0:116acb03eb85 41 }
megrootens 0:116acb03eb85 42
megrootens 0:116acb03eb85 43 /**
cnckiwi31 3:22f8cfcad8d6 44 * sets force scaling offset so that current output is force zero
cnckiwi31 3:22f8cfcad8d6 45 */
cnckiwi31 3:22f8cfcad8d6 46 void nullForce()
cnckiwi31 3:22f8cfcad8d6 47 {
cnckiwi31 3:22f8cfcad8d6 48 kOffset_ = kOffset_ - getForce();
cnckiwi31 3:22f8cfcad8d6 49 return;
cnckiwi31 3:22f8cfcad8d6 50 }
cnckiwi31 3:22f8cfcad8d6 51
cnckiwi31 3:22f8cfcad8d6 52 /**
megrootens 0:116acb03eb85 53 * @return ffset of analog value
megrootens 0:116acb03eb85 54 */
megrootens 0:116acb03eb85 55 float get_offset() { return kOffset_; }
megrootens 0:116acb03eb85 56
megrootens 0:116acb03eb85 57 /**
megrootens 0:116acb03eb85 58 * @return factor multiplication factor for analog value
megrootens 0:116acb03eb85 59 */
megrootens 0:116acb03eb85 60 float get_factor() { return kFactor_; }
megrootens 0:116acb03eb85 61
megrootens 0:116acb03eb85 62
megrootens 0:116acb03eb85 63 private:
megrootens 0:116acb03eb85 64 AnalogIn analog_in_;
megrootens 0:116acb03eb85 65
cnckiwi31 3:22f8cfcad8d6 66 float kOffset_;
megrootens 0:116acb03eb85 67 const float kFactor_;
megrootens 0:116acb03eb85 68 };
megrootens 0:116acb03eb85 69
megrootens 0:116acb03eb85 70 #endif