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

constants.cpp@4:1cdce6c6c94e, 2018-10-12 (annotated)

Committer:
cnckiwi31
Date:
Fri Oct 12 12:12:55 2018 +0000
Revision:
4:1cdce6c6c94e
Parent:
2:84d479fe9b5e
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 #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
cnckiwi31 4:1cdce6c6c94e 6 const float kLcm101Offset = 1.99;//-1.52;
Technical_Muffin 2:84d479fe9b5e 7 //This is currently the offset for the S610 sensor -5.41;
Technical_Muffin 2:84d479fe9b5e 8 //Offset for LCM101 sensor = -1.52
cnckiwi31 4:1cdce6c6c94e 9 const float kLcm101Factor = 969.2;//970.55;
Technical_Muffin 2:84d479fe9b5e 10 //This is currently the factor for the S610 sensor 977.35;
Technical_Muffin 2:84d479fe9b5e 11 //Factor for LCM101 sensor is 970.55
cnckiwi31 4:1cdce6c6c94e 12
cnckiwi31 4:1cdce6c6c94e 13 // Pressure sensor slope and offset values for a gauge pressure reading in bar
cnckiwi31 4:1cdce6c6c94e 14 const float kSPTE0Offset = -2.47;
cnckiwi31 4:1cdce6c6c94e 15
cnckiwi31 4:1cdce6c6c94e 16 const float kSPTE0Factor = 12.5; //
cnckiwi31 4:1cdce6c6c94e 17
cnckiwi31 4:1cdce6c6c94e 18 const float kSPTE1Offset = -2.47;
cnckiwi31 4:1cdce6c6c94e 19
cnckiwi31 4:1cdce6c6c94e 20 const float kSPTE1Factor = 12.5; //
Technical_Muffin 2:84d479fe9b5e 21
megrootens 0:3855d4588f76 22 // AS5048 abs angle sensor chain
megrootens 0:3855d4588f76 23 const int kNumJoints = 4;
megrootens 0:3855d4588f76 24
megrootens 0:3855d4588f76 25 const char *kJointNames[] = {"Toes","Ankle","Knee","Hip"};
megrootens 0:3855d4588f76 26 const float kOffsetsDegrees[] = {83.2f,6.3f,170.7f,6.5f};
megrootens 0:3855d4588f76 27 const bool kDirections[] = {false,true,false,true};
megrootens 0:3855d4588f76 28 }
megrootens 0:3855d4588f76 29
megrootens 0:3855d4588f76 30 namespace timing {
cnckiwi31 4:1cdce6c6c94e 31 const int TimeControlHertz = 5000;// control loop sample rate
cnckiwi31 4:1cdce6c6c94e 32 const int LogDataHertz = 500; //data log sample rate
cnckiwi31 4:1cdce6c6c94e 33 const int kTimeControlUs = 1000000/TimeControlHertz; // 1000 Hz control loop
cnckiwi31 4:1cdce6c6c94e 34 const int kTimeLogDataUs = 1000000/LogDataHertz; // 200 Hz data logging
megrootens 0:3855d4588f76 35 const int kTimeSerialPrintUs = 500000; // 2 Hz serial print
megrootens 0:3855d4588f76 36
megrootens 0:3855d4588f76 37 const int kSerialBaudrate = 115200;
megrootens 0:3855d4588f76 38 }