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.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 _CONSTANTS_HARDWARE_H_
megrootens 0:3855d4588f76 2 #define _CONSTANTS_HARDWARE_H_
megrootens 0:3855d4588f76 3
megrootens 0:3855d4588f76 4 #include "mbed.h"
megrootens 0:3855d4588f76 5
megrootens 0:3855d4588f76 6 #ifndef M_PI
megrootens 0:3855d4588f76 7 #define M_PI 3.14159265359f
megrootens 0:3855d4588f76 8 #endif
megrootens 0:3855d4588f76 9
megrootens 0:3855d4588f76 10 // SPI Communication AS5048 joint encoders
megrootens 0:3855d4588f76 11 #define AS5048_MOSI PTD6 // D11
megrootens 0:3855d4588f76 12 #define AS5048_MISO PTD7 // D12
megrootens 0:3855d4588f76 13 #define AS5048_SCLK PTD5 // D13
megrootens 0:3855d4588f76 14 #define AS5048_CS PTD4 // D10
megrootens 0:3855d4588f76 15
megrootens 0:3855d4588f76 16 // SPI Communication external SD CARD
megrootens 0:3855d4588f76 17 #define SD_MOSI PTC6 // D7
megrootens 0:3855d4588f76 18 #define SD_MISO PTC7
megrootens 0:3855d4588f76 19 #define SD_SCK PTC5
megrootens 0:3855d4588f76 20 #define SD_CS PTC10
megrootens 0:3855d4588f76 21
megrootens 0:3855d4588f76 22 // LCM101-100 kgf S-beam force sensor
cnckiwi31 4:1cdce6c6c94e 23 #define LCM101 A1
cnckiwi31 4:1cdce6c6c94e 24
cnckiwi31 4:1cdce6c6c94e 25 // SPTE analog output pressure sensors (0-10bar for 0-5V output)
cnckiwi31 4:1cdce6c6c94e 26 #define SPTE_0 A0
cnckiwi31 4:1cdce6c6c94e 27 #define SPTE_1 A5
megrootens 0:3855d4588f76 28
megrootens 0:3855d4588f76 29 /**
megrootens 0:3855d4588f76 30 * Sensor settings and calibration data
megrootens 0:3855d4588f76 31 */
megrootens 0:3855d4588f76 32 namespace sensors {
megrootens 0:3855d4588f76 33
megrootens 0:3855d4588f76 34 // LCM101-100kgf force sensor
megrootens 0:3855d4588f76 35 extern const float kLcm101Offset;
megrootens 0:3855d4588f76 36 extern const float kLcm101Factor;
megrootens 0:3855d4588f76 37
cnckiwi31 4:1cdce6c6c94e 38 //SPTE pressure sensors (0-10bar for 0-5V output)
cnckiwi31 4:1cdce6c6c94e 39 extern const float kSPTE0Offset;
cnckiwi31 4:1cdce6c6c94e 40 extern const float kSPTE0Factor;
cnckiwi31 4:1cdce6c6c94e 41 extern const float kSPTE1Offset;
cnckiwi31 4:1cdce6c6c94e 42 extern const float kSPTE1Factor;
cnckiwi31 4:1cdce6c6c94e 43
megrootens 0:3855d4588f76 44 // AS5048 abs angle sensor chain
megrootens 0:3855d4588f76 45 extern const int kNumJoints;
megrootens 0:3855d4588f76 46
megrootens 0:3855d4588f76 47 extern const char *kJointNames[];
megrootens 0:3855d4588f76 48 extern const float kOffsetsDegrees[];
megrootens 0:3855d4588f76 49 extern const bool kDirections[];
megrootens 0:3855d4588f76 50 }
megrootens 0:3855d4588f76 51
megrootens 0:3855d4588f76 52 namespace timing {
megrootens 0:3855d4588f76 53 extern const int kTimeControlUs; // control loop
megrootens 0:3855d4588f76 54 extern const int kTimeLogDataUs; // data logging
megrootens 0:3855d4588f76 55 extern const int kTimeSerialPrintUs; // serial printing
megrootens 0:3855d4588f76 56
megrootens 0:3855d4588f76 57 extern const int kSerialBaudrate;
megrootens 0:3855d4588f76 58 }
megrootens 0:3855d4588f76 59
megrootens 0:3855d4588f76 60
megrootens 0:3855d4588f76 61 #endif