Martijn Grootens
HeRoS: read out and log joint angles and force sensor data from the leg test bench.
Dependencies: AS5048 LCM101 MODSERIAL PinDetect SDFileSystem mbed
Bench Class Reference
Class to read out sensory information from the second test bench; the upper and lower leg, foot en toe setup with 1-dof hinges, each of which is equipped with an AMS AS5048 absolute rotary sensor. More...
#include <bench.h>
Public Member Functions | |
| Bench (PinName mosi, PinName miso, PinName sck, PinName cs, PinName p_lcm101) | |
| Create an object representing the testbench; the 4 AS5048 sensors with the offsets specified by the constants kOffsetsDegrees[4]. | |
| void | Update () |
| Update routine for the testbench. | |
| float | getDegrees (Joint joint) |
| Obtain the joint angle in degrees. | |
| float | getRadians (Joint joint) |
| Obtain the joint angle in radians. | |
Detailed Description
Class to read out sensory information from the second test bench; the upper and lower leg, foot en toe setup with 1-dof hinges, each of which is equipped with an AMS AS5048 absolute rotary sensor.
The sensors are daisy chained and communicate via SPI
Definition at line 15 of file bench.h.
Constructor & Destructor Documentation
| Bench | ( | PinName | mosi, |
| PinName | miso, | ||
| PinName | sck, | ||
| PinName | cs, | ||
| PinName | p_lcm101 | ||
| ) |
Create an object representing the testbench; the 4 AS5048 sensors with the offsets specified by the constants kOffsetsDegrees[4].
- Parameters:
-
mosi,: mosi pin for sensor chain miso,: miso pin for sensor chain sck,: clock pin for sensor chain cs,: chip select pin for sensor chain
Member Function Documentation
| float getDegrees | ( | Joint | joint ) |
| float getRadians | ( | Joint | joint ) |
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