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@13:219c16e7d32c, 2020-10-20 (annotated)

Committer:
surajgiri
Date:
Tue Oct 20 12:50:40 2020 +0000
Revision:
13:219c16e7d32c
Parent:
11:fc82dd22a527 
Update with linear actuator

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 {
surajgiri 13:219c16e7d32c 4 const bool use5kN = false;
megrootens 0:3855d4588f76 5
megrootens 0:3855d4588f76 6 // LCM101-100kgf force sensor
cnckiwi31 5:63063a9fa51c 7 // Equation from 7/6/2018 calibration used:
cnckiwi31 5:63063a9fa51c 8 // kLcm101Offset = 1.99
cnckiwi31 5:63063a9fa51c 9 // kLcm101Factor = 969.2
cnckiwi31 5:63063a9fa51c 10 // Equation from 8/3/2019 calibration used:
cnckiwi31 5:63063a9fa51c 11 // kLcm101Offset = 4.31
cnckiwi31 5:63063a9fa51c 12 // kLcm101Factor = 1001.1
cnckiwi31 5:63063a9fa51c 13
surajgiri 13:219c16e7d32c 14 const float kLcm101Offset = -1.5;//-1.52;
Technical_Muffin 2:84d479fe9b5e 15 //This is currently the offset for the S610 sensor -5.41;
Technical_Muffin 2:84d479fe9b5e 16 //Offset for LCM101 sensor = -1.52
surajgiri 13:219c16e7d32c 17 const float kLcm101Factor = 970.55;//970.55;
Technical_Muffin 2:84d479fe9b5e 18 //This is currently the factor for the S610 sensor 977.35;
Technical_Muffin 2:84d479fe9b5e 19 //Factor for LCM101 sensor is 970.55
cnckiwi31 4:1cdce6c6c94e 20
cnckiwi31 5:63063a9fa51c 21 // Gen5kN force sensor
cnckiwi31 5:63063a9fa51c 22 // Equation from 21/2/2019 calibration used:
cnckiwi31 5:63063a9fa51c 23 // kLcm101Offset = 21.2
cnckiwi31 5:63063a9fa51c 24 // kLcm101Factor = 5530
cnckiwi31 5:63063a9fa51c 25
cnckiwi31 10:77fcbad99a31 26 const float kGen5kNOffset = 0;
cnckiwi31 5:63063a9fa51c 27 const float kGen5kNFactor = 5530;
cnckiwi31 5:63063a9fa51c 28
cnckiwi31 4:1cdce6c6c94e 29 // Pressure sensor slope and offset values for a gauge pressure reading in bar
cnckiwi31 5:63063a9fa51c 30 // Equation from 25/6/2018 calibration used:
cnckiwi31 5:63063a9fa51c 31 // kSPTE0Offset = -2.47
cnckiwi31 5:63063a9fa51c 32 // kSPTE0Factor = 12.5
cnckiwi31 4:1cdce6c6c94e 33
cnckiwi31 5:63063a9fa51c 34 // Equation from 21/2/2019 calibration used
cnckiwi31 5:63063a9fa51c 35 // kSPTE0Offset = -2.33
cnckiwi31 5:63063a9fa51c 36 // kSPTE0Factor = 12.0
cnckiwi31 5:63063a9fa51c 37
cnckiwi31 5:63063a9fa51c 38 const float kSPTE0Offset = -2.33;
cnckiwi31 5:63063a9fa51c 39
cnckiwi31 5:63063a9fa51c 40 const float kSPTE0Factor = 12.0;
cnckiwi31 4:1cdce6c6c94e 41
cnckiwi31 4:1cdce6c6c94e 42 const float kSPTE1Offset = -2.47;
cnckiwi31 4:1cdce6c6c94e 43
cnckiwi31 4:1cdce6c6c94e 44 const float kSPTE1Factor = 12.5; //
Technical_Muffin 2:84d479fe9b5e 45
megrootens 0:3855d4588f76 46 // AS5048 abs angle sensor chain
cnckiwi31 5:63063a9fa51c 47 const int kNumJoints = 1;
megrootens 0:3855d4588f76 48
cnckiwi31 5:63063a9fa51c 49 const char *kJointNames[] = {"Knee"};//{"1","Knee","3","4"};
surajgiri 13:219c16e7d32c 50 const float kOffsetsDegrees[] = {250};//{180,180,180,180};
cnckiwi31 5:63063a9fa51c 51 const bool kDirections[] = {true};//{true,true,true,true};
megrootens 0:3855d4588f76 52 }
megrootens 0:3855d4588f76 53
megrootens 0:3855d4588f76 54 namespace timing {
cnckiwi31 5:63063a9fa51c 55 const int TimeControlHertz = 1000;// control loop sample rate
surajgiri 13:219c16e7d32c 56 const int LogDataHertz = 249; //data log sample rate
cnckiwi31 5:63063a9fa51c 57 const int SerialPrintHertz = 2; //print rate of serial
cnckiwi31 4:1cdce6c6c94e 58 const int kTimeControlUs = 1000000/TimeControlHertz; // 1000 Hz control loop
cnckiwi31 4:1cdce6c6c94e 59 const int kTimeLogDataUs = 1000000/LogDataHertz; // 200 Hz data logging
cnckiwi31 5:63063a9fa51c 60 const int kTimeSerialPrintUs = 1000000/SerialPrintHertz; // 2 Hz serial print
surajgiri 11:fc82dd22a527 61 const int minKeyInt = 1; //minimum key press interval in s
megrootens 0:3855d4588f76 62 const int kSerialBaudrate = 115200;
surajgiri 11:fc82dd22a527 63
surajgiri 11:fc82dd22a527 64 const int PWMHertz = 10000;
cnckiwi31 5:63063a9fa51c 65 }
cnckiwi31 5:63063a9fa51c 66
cnckiwi31 5:63063a9fa51c 67 namespace rigStructure {
cnckiwi31 5:63063a9fa51c 68 const bool invertedRig = false; //indicates if rig is inverted or not (for internal torque calculation)
megrootens 0:3855d4588f76 69 }