Allan Veale
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
Diff: lcm101.h
- Revision:
- 1:493c1de4a28d
- Parent:
- 0:116acb03eb85
- Child:
- 2:77cffacfd89e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/lcm101.h Thu Aug 25 14:34:28 2016 +0000
@@ -0,0 +1,59 @@
+#ifndef _LCM101_H_
+#define _LCM101_H_
+
+#include "mbed.h"
+
+/**
+ * Simple class to read out an LCM101 S-beam force sensor connected to an analog
+ * input.
+ */
+class Lcm101 {
+public:
+
+ /**
+ * @param pin_a_in PinName of analog input
+ * @param offset of analog value (calibration data)
+ * @param factor multiplication factor for analog value (calibration data)
+ */
+ Lcm101(PinName pin_a_in, float offset, float factor) :
+ analog_in_(pin_a_in),
+ kOffset_(offset),
+ kFactor_(factor)
+ {
+ }
+
+ /**
+ * @return unscaled analog input value
+ */
+ float getForceRaw()
+ {
+ return analog_in_.read();
+ }
+
+ /**
+ * @return force value kOffset_ + kFactor_ * getForceRaw();
+ */
+ float getForce()
+ {
+ return kOffset_ + kFactor_ * getForceRaw();
+ }
+
+ /**
+ * @return ffset of analog value
+ */
+ float get_offset() { return kOffset_; }
+
+ /**
+ * @return factor multiplication factor for analog value
+ */
+ float get_factor() { return kFactor_; }
+
+
+private:
+ AnalogIn analog_in_;
+
+ const float kOffset_;
+ const float kFactor_;
+};
+
+#endif
\ No newline at end of file