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Dependencies: AS5048 LCM101 MODSERIAL PinDetect SDFileSystem mbed
constants.cpp
00001 #include "constants.h" 00002 00003 namespace sensors { 00004 00005 // LCM101-100kgf force sensor 00006 const float kLcm101Offset = 647.600f; 00007 const float kLcm101Factor = -1296.53; 00008 00009 // AS5048 abs angle sensor chain 00010 const int kNumJoints = 4; 00011 00012 const char *kJointNames[] = {"Toes","Ankle","Knee","Hip"}; 00013 const float kOffsetsDegrees[] = {83.2f,6.3f,170.7f,6.5f}; 00014 const bool kDirections[] = {false,true,false,true}; 00015 } 00016 00017 namespace timing { 00018 const int kTimeControlUs = 1000; // 1000 Hz control loop 00019 const int kTimeLogDataUs = 20000; // 50 Hz data logging 00020 const int kTimeSerialPrintUs = 500000; // 2 Hz serial print 00021 00022 const int kSerialBaudrate = 115200; 00023 }
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