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@0:3855d4588f76, 2017-12-01 (annotated)

Committer:
megrootens
Date:
Fri Dec 01 11:14:38 2017 +0000
Revision:
0:3855d4588f76
Child:
2:84d479fe9b5e
serial printing and SD card logging of joint angles and force sensor

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
megrootens 0:3855d4588f76 6 const float kLcm101Offset = 647.600f;
megrootens 0:3855d4588f76 7 const float kLcm101Factor = -1296.53;
megrootens 0:3855d4588f76 8
megrootens 0:3855d4588f76 9 // AS5048 abs angle sensor chain
megrootens 0:3855d4588f76 10 const int kNumJoints = 4;
megrootens 0:3855d4588f76 11
megrootens 0:3855d4588f76 12 const char *kJointNames[] = {"Toes","Ankle","Knee","Hip"};
megrootens 0:3855d4588f76 13 const float kOffsetsDegrees[] = {83.2f,6.3f,170.7f,6.5f};
megrootens 0:3855d4588f76 14 const bool kDirections[] = {false,true,false,true};
megrootens 0:3855d4588f76 15 }
megrootens 0:3855d4588f76 16
megrootens 0:3855d4588f76 17 namespace timing {
megrootens 0:3855d4588f76 18 const int kTimeControlUs = 1000; // 1000 Hz control loop
megrootens 0:3855d4588f76 19 const int kTimeLogDataUs = 20000; // 50 Hz data logging
megrootens 0:3855d4588f76 20 const int kTimeSerialPrintUs = 500000; // 2 Hz serial print
megrootens 0:3855d4588f76 21
megrootens 0:3855d4588f76 22 const int kSerialBaudrate = 115200;
megrootens 0:3855d4588f76 23 }