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@1:493c1de4a28d, 2016-08-25 (annotated)

Committer:
megrootens
Date:
Thu Aug 25 14:34:28 2016 +0000
Revision:
1:493c1de4a28d
Parent:
Lcm101.h@0:116acb03eb85
Child:
2:77cffacfd89e
C++ Style guide: file names lower case

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();
megrootens 0:116acb03eb85 39 }
megrootens 0:116acb03eb85 40
megrootens 0:116acb03eb85 41 /**
megrootens 0:116acb03eb85 42 * @return ffset of analog value
megrootens 0:116acb03eb85 43 */
megrootens 0:116acb03eb85 44 float get_offset() { return kOffset_; }
megrootens 0:116acb03eb85 45
megrootens 0:116acb03eb85 46 /**
megrootens 0:116acb03eb85 47 * @return factor multiplication factor for analog value
megrootens 0:116acb03eb85 48 */
megrootens 0:116acb03eb85 49 float get_factor() { return kFactor_; }
megrootens 0:116acb03eb85 50
megrootens 0:116acb03eb85 51
megrootens 0:116acb03eb85 52 private:
megrootens 0:116acb03eb85 53 AnalogIn analog_in_;
megrootens 0:116acb03eb85 54
megrootens 0:116acb03eb85 55 const float kOffset_;
megrootens 0:116acb03eb85 56 const float kFactor_;
megrootens 0:116acb03eb85 57 };
megrootens 0:116acb03eb85 58
megrootens 0:116acb03eb85 59 #endif