Martijn Grootens / Mbed 2 deprecated heros_leg_readout

HeRoS: read out and log joint angles and force sensor data from the leg test bench.

Dependencies:   AS5048 LCM101 MODSERIAL PinDetect SDFileSystem mbed

constants.cpp@1:417a5b28ac84, 2017-12-06 (annotated)

Committer:
megrootens
Date:
Wed Dec 06 11:22:54 2017 +0000
Revision:
1:417a5b28ac84
Parent:
0:3855d4588f76 
starting, stopping and resetting timer for data logging t column

Who changed what in which revision?

UserRevisionLine numberNew contents of line
megrootens 0:3855d4588f76 1 #include "constants.h"
megrootens 0:3855d4588f76 2
megrootens 0:3855d4588f76 3 namespace sensors {
megrootens 0:3855d4588f76 4
megrootens 0:3855d4588f76 5 // LCM101-100kgf force sensor
megrootens 0:3855d4588f76 6 const float kLcm101Offset = 647.600f;
megrootens 0:3855d4588f76 7 const float kLcm101Factor = -1296.53;
megrootens 0:3855d4588f76 8
megrootens 0:3855d4588f76 9 // AS5048 abs angle sensor chain
megrootens 0:3855d4588f76 10 const int kNumJoints = 4;
megrootens 0:3855d4588f76 11
megrootens 0:3855d4588f76 12 const char *kJointNames[] = {"Toes","Ankle","Knee","Hip"};
megrootens 0:3855d4588f76 13 const float kOffsetsDegrees[] = {83.2f,6.3f,170.7f,6.5f};
megrootens 0:3855d4588f76 14 const bool kDirections[] = {false,true,false,true};
megrootens 0:3855d4588f76 15 }
megrootens 0:3855d4588f76 16
megrootens 0:3855d4588f76 17 namespace timing {
megrootens 0:3855d4588f76 18 const int kTimeControlUs = 1000; // 1000 Hz control loop
megrootens 0:3855d4588f76 19 const int kTimeLogDataUs = 20000; // 50 Hz data logging
megrootens 0:3855d4588f76 20 const int kTimeSerialPrintUs = 500000; // 2 Hz serial print
megrootens 0:3855d4588f76 21
megrootens 0:3855d4588f76 22 const int kSerialBaudrate = 115200;
megrootens 0:3855d4588f76 23 }