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@5:63063a9fa51c, 2019-12-09 (annotated)

Committer:
cnckiwi31
Date:
Mon Dec 09 10:51:46 2019 +0000
Revision:
5:63063a9fa51c
Parent:
4:1cdce6c6c94e
Child:
10:77fcbad99a31
Ready to run on test rig

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 {
cnckiwi31 5:63063a9fa51c 4 const bool use5kN = true;
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
cnckiwi31 5:63063a9fa51c 14 const float kLcm101Offset = 4.31;//-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
cnckiwi31 5:63063a9fa51c 17 const float kLcm101Factor = 1001.1;//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 5:63063a9fa51c 26 const float kGen5kNOffset = 21.2;
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"};
cnckiwi31 5:63063a9fa51c 50 const float kOffsetsDegrees[] = {76.9};//{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
cnckiwi31 5:63063a9fa51c 56 const int LogDataHertz = 250; //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
megrootens 0:3855d4588f76 61
megrootens 0:3855d4588f76 62 const int kSerialBaudrate = 115200;
cnckiwi31 5:63063a9fa51c 63 }
cnckiwi31 5:63063a9fa51c 64
cnckiwi31 5:63063a9fa51c 65 namespace rigStructure {
cnckiwi31 5:63063a9fa51c 66 const bool invertedRig = false; //indicates if rig is inverted or not (for internal torque calculation)
megrootens 0:3855d4588f76 67 }