Suraj Giri / Mbed 2 deprecated heros_leg_readout_torque_addition_V3

Version 3 is with update to the test rig with a linear actuator

Dependencies:   SPTE_10Bar_5V mbed AS5048 SDFileSystem MODSERIAL PinDetect LCM101 LinearActuator

bench.h@4:1cdce6c6c94e, 2018-10-12 (annotated)

Committer:
cnckiwi31
Date:
Fri Oct 12 12:12:55 2018 +0000
Revision:
4:1cdce6c6c94e
Parent:
0:3855d4588f76
Child:
5:63063a9fa51c
HeRoS: read out and log joint angles and force sensor data from the leg test bench.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
megrootens 0:3855d4588f76 1 #ifndef _BENCH02_H_
megrootens 0:3855d4588f76 2 #define _BENCH02_H_
megrootens 0:3855d4588f76 3
megrootens 0:3855d4588f76 4 #include "mbed.h"
megrootens 0:3855d4588f76 5 #include "as5048.h"
megrootens 0:3855d4588f76 6 #include "lcm101.h"
cnckiwi31 4:1cdce6c6c94e 7 #include "SPTEPressureSensor.h"
megrootens 0:3855d4588f76 8 #include "constants.h"
megrootens 0:3855d4588f76 9
megrootens 0:3855d4588f76 10 /**
megrootens 0:3855d4588f76 11 * Class to read out sensory information from the second test bench;
megrootens 0:3855d4588f76 12 * the upper and lower leg, foot en toe setup with 1-dof hinges,
megrootens 0:3855d4588f76 13 * each of which is equipped with an AMS AS5048 absolute rotary sensor.
megrootens 0:3855d4588f76 14 * The sensors are daisy chained and communicate via SPI
cnckiwi31 4:1cdce6c6c94e 15 * also includes a load cell measuring the vertical force applied externally to
cnckiwi31 4:1cdce6c6c94e 16 * the hip and pressure sensors connected to the setup
megrootens 0:3855d4588f76 17 */
megrootens 0:3855d4588f76 18 class Bench {
megrootens 0:3855d4588f76 19 public:
megrootens 0:3855d4588f76 20
megrootens 0:3855d4588f76 21 static const float kCutOffDegrees = 180.0f;
megrootens 0:3855d4588f76 22 static const float kCutOffRadians = 3.14159265359f;
megrootens 0:3855d4588f76 23
megrootens 0:3855d4588f76 24 enum Joint {
megrootens 0:3855d4588f76 25 TOES,
megrootens 0:3855d4588f76 26 ANKLE,
megrootens 0:3855d4588f76 27 KNEE,
megrootens 0:3855d4588f76 28 HIP
megrootens 0:3855d4588f76 29 };
megrootens 0:3855d4588f76 30
cnckiwi31 4:1cdce6c6c94e 31 Bench(PinName mosi, PinName miso, PinName sck, PinName cs, PinName p_lcm101, PinName p_spte0, PinName p_spte1);
megrootens 0:3855d4588f76 32
megrootens 0:3855d4588f76 33 void Update();
megrootens 0:3855d4588f76 34
megrootens 0:3855d4588f76 35 float getDegrees(int i_joint);
megrootens 0:3855d4588f76 36 float getDegrees(Joint joint);
megrootens 0:3855d4588f76 37
megrootens 0:3855d4588f76 38 float getRadians(int i_joint);
megrootens 0:3855d4588f76 39 float getRadians(Joint joint);
megrootens 0:3855d4588f76 40
megrootens 0:3855d4588f76 41
megrootens 0:3855d4588f76 42 const char* getJointName(int i_joint);
megrootens 0:3855d4588f76 43 const char* getJointName(Joint joint);
megrootens 0:3855d4588f76 44
megrootens 0:3855d4588f76 45 float getForce();
cnckiwi31 4:1cdce6c6c94e 46 void nullForce();
cnckiwi31 4:1cdce6c6c94e 47
cnckiwi31 4:1cdce6c6c94e 48 float getPressure0();
cnckiwi31 4:1cdce6c6c94e 49 void nullPressure0();
cnckiwi31 4:1cdce6c6c94e 50 float getPressure1();
cnckiwi31 4:1cdce6c6c94e 51 void nullPressure1();
megrootens 0:3855d4588f76 52
megrootens 0:3855d4588f76 53 As5048* get_as5048();
megrootens 0:3855d4588f76 54
megrootens 0:3855d4588f76 55
megrootens 0:3855d4588f76 56 private:
megrootens 0:3855d4588f76 57 As5048 as5048_;
megrootens 0:3855d4588f76 58 Lcm101 lcm101_;
cnckiwi31 4:1cdce6c6c94e 59 SPTEPressureSensor spte0;
cnckiwi31 4:1cdce6c6c94e 60 SPTEPressureSensor spte1;
megrootens 0:3855d4588f76 61 };
megrootens 0:3855d4588f76 62
megrootens 0:3855d4588f76 63 #endif