Diff: constants.cpp

Revision:

0:3855d4588f76

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/constants.cpp	Fri Dec 01 11:14:38 2017 +0000
@@ -0,0 +1,23 @@
+#include "constants.h"
+
+namespace sensors {
+    
+    // LCM101-100kgf force sensor
+    const float kLcm101Offset = 647.600f;
+    const float kLcm101Factor = -1296.53;
+    
+    // AS5048 abs angle sensor chain
+    const int kNumJoints = 4;
+
+    const char *kJointNames[]     = {"Toes","Ankle","Knee","Hip"};
+    const float kOffsetsDegrees[] = {83.2f,6.3f,170.7f,6.5f};
+    const bool kDirections[] = {false,true,false,true};
+}
+
+namespace timing {
+    const int kTimeControlUs            =   1000;   // 1000 Hz control loop
+    const int kTimeLogDataUs            =  20000;   //   50 Hz data logging
+    const int kTimeSerialPrintUs        = 500000;   //    2 Hz serial print
+  
+    const int kSerialBaudrate = 115200;
+}
\ No newline at end of file