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@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?
User | Revision | Line number | New 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 | |
cnckiwi31 | 10:77fcbad99a31 | 22 | // SPI Communication MAX5322 DAC |
cnckiwi31 | 10:77fcbad99a31 | 23 | #define DAC_MOSI PTD6 // D11 |
cnckiwi31 | 10:77fcbad99a31 | 24 | #define DAC_MISO PTD7 // D12 |
cnckiwi31 | 10:77fcbad99a31 | 25 | #define DAC_SCLK PTD5 // D13 |
cnckiwi31 | 10:77fcbad99a31 | 26 | #define DAC_CSA D8 |
cnckiwi31 | 10:77fcbad99a31 | 27 | #define DAC_CSB D1 |
cnckiwi31 | 10:77fcbad99a31 | 28 | |
megrootens | 0:3855d4588f76 | 29 | // LCM101-100 kgf S-beam force sensor |
cnckiwi31 | 4:1cdce6c6c94e | 30 | #define LCM101 A1 |
cnckiwi31 | 4:1cdce6c6c94e | 31 | |
cnckiwi31 | 4:1cdce6c6c94e | 32 | // SPTE analog output pressure sensors (0-10bar for 0-5V output) |
cnckiwi31 | 4:1cdce6c6c94e | 33 | #define SPTE_0 A0 |
cnckiwi31 | 4:1cdce6c6c94e | 34 | #define SPTE_1 A5 |
megrootens | 0:3855d4588f76 | 35 | |
cnckiwi31 | 5:63063a9fa51c | 36 | //Festo digital valve (one for inflate) |
cnckiwi31 | 10:77fcbad99a31 | 37 | #define VALVE_PIN D0 |
cnckiwi31 | 5:63063a9fa51c | 38 | |
surajgiri | 11:fc82dd22a527 | 39 | //Linear actuator |
surajgiri | 11:fc82dd22a527 | 40 | #define LINACT_DIR_PIN D5 |
surajgiri | 11:fc82dd22a527 | 41 | #define LINACT_PWM_PIN D6 |
surajgiri | 11:fc82dd22a527 | 42 | |
megrootens | 0:3855d4588f76 | 43 | /** |
megrootens | 0:3855d4588f76 | 44 | * Sensor settings and calibration data |
megrootens | 0:3855d4588f76 | 45 | */ |
megrootens | 0:3855d4588f76 | 46 | namespace sensors { |
cnckiwi31 | 5:63063a9fa51c | 47 | extern const bool use5kN; |
megrootens | 0:3855d4588f76 | 48 | |
megrootens | 0:3855d4588f76 | 49 | // LCM101-100kgf force sensor |
megrootens | 0:3855d4588f76 | 50 | extern const float kLcm101Offset; |
megrootens | 0:3855d4588f76 | 51 | extern const float kLcm101Factor; |
megrootens | 0:3855d4588f76 | 52 | |
cnckiwi31 | 5:63063a9fa51c | 53 | // Gen5kN force sensor |
cnckiwi31 | 5:63063a9fa51c | 54 | extern const float kGen5kNOffset; |
cnckiwi31 | 5:63063a9fa51c | 55 | extern const float kGen5kNFactor; |
cnckiwi31 | 5:63063a9fa51c | 56 | |
cnckiwi31 | 4:1cdce6c6c94e | 57 | //SPTE pressure sensors (0-10bar for 0-5V output) |
cnckiwi31 | 4:1cdce6c6c94e | 58 | extern const float kSPTE0Offset; |
cnckiwi31 | 4:1cdce6c6c94e | 59 | extern const float kSPTE0Factor; |
cnckiwi31 | 4:1cdce6c6c94e | 60 | extern const float kSPTE1Offset; |
cnckiwi31 | 4:1cdce6c6c94e | 61 | extern const float kSPTE1Factor; |
cnckiwi31 | 4:1cdce6c6c94e | 62 | |
megrootens | 0:3855d4588f76 | 63 | // AS5048 abs angle sensor chain |
megrootens | 0:3855d4588f76 | 64 | extern const int kNumJoints; |
megrootens | 0:3855d4588f76 | 65 | |
megrootens | 0:3855d4588f76 | 66 | extern const char *kJointNames[]; |
megrootens | 0:3855d4588f76 | 67 | extern const float kOffsetsDegrees[]; |
megrootens | 0:3855d4588f76 | 68 | extern const bool kDirections[]; |
megrootens | 0:3855d4588f76 | 69 | } |
megrootens | 0:3855d4588f76 | 70 | |
megrootens | 0:3855d4588f76 | 71 | namespace timing { |
cnckiwi31 | 5:63063a9fa51c | 72 | extern const int LogDataHertz; //data log sample rate |
megrootens | 0:3855d4588f76 | 73 | extern const int kTimeControlUs; // control loop |
cnckiwi31 | 5:63063a9fa51c | 74 | extern const int LogDataHertz; // data logging |
megrootens | 0:3855d4588f76 | 75 | extern const int kTimeLogDataUs; // data logging |
cnckiwi31 | 5:63063a9fa51c | 76 | extern const int TimeControlHertz; // control loop sample rate |
cnckiwi31 | 5:63063a9fa51c | 77 | extern const int kTimeSerialPrintUs; // serial printing |
surajgiri | 11:fc82dd22a527 | 78 | extern const int minKeyInt; //key interval time out value |
surajgiri | 11:fc82dd22a527 | 79 | |
megrootens | 0:3855d4588f76 | 80 | extern const int kSerialBaudrate; |
surajgiri | 11:fc82dd22a527 | 81 | |
surajgiri | 11:fc82dd22a527 | 82 | extern const int PWMHertz; //Linear actuator frequency for pwm |
megrootens | 0:3855d4588f76 | 83 | } |
megrootens | 0:3855d4588f76 | 84 | |
cnckiwi31 | 5:63063a9fa51c | 85 | namespace rigStructure { |
cnckiwi31 | 5:63063a9fa51c | 86 | extern const bool invertedRig; //indicates if rig is inverted or not (for internal torque calculation) |
cnckiwi31 | 5:63063a9fa51c | 87 | } |
megrootens | 0:3855d4588f76 | 88 | |
megrootens | 0:3855d4588f76 | 89 | #endif |