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

Committer:
Technical_Muffin
Date:
2018-06-05
Revision:
2:77cffacfd89e
Parent:
1:493c1de4a28d
Child:
3:22f8cfcad8d6

File content as of revision 2:77cffacfd89e:

#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();
        //it appears that higher order polynomials show better accuracy, within the 40 kg range that is.
        // Awaiting other instructions, a linear fit will be currently used however.
    }
    
    /**
     * @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