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@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 #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
cnckiwi31 5:63063a9fa51c 29 //Festo digital valve (one for inflate)
cnckiwi31 5:63063a9fa51c 30 #define VALVE_PIN D8
cnckiwi31 5:63063a9fa51c 31
megrootens 0:3855d4588f76 32 /**
megrootens 0:3855d4588f76 33 * Sensor settings and calibration data
megrootens 0:3855d4588f76 34 */
megrootens 0:3855d4588f76 35 namespace sensors {
cnckiwi31 5:63063a9fa51c 36 extern const bool use5kN;
megrootens 0:3855d4588f76 37
megrootens 0:3855d4588f76 38 // LCM101-100kgf force sensor
megrootens 0:3855d4588f76 39 extern const float kLcm101Offset;
megrootens 0:3855d4588f76 40 extern const float kLcm101Factor;
megrootens 0:3855d4588f76 41
cnckiwi31 5:63063a9fa51c 42 // Gen5kN force sensor
cnckiwi31 5:63063a9fa51c 43 extern const float kGen5kNOffset;
cnckiwi31 5:63063a9fa51c 44 extern const float kGen5kNFactor;
cnckiwi31 5:63063a9fa51c 45
cnckiwi31 4:1cdce6c6c94e 46 //SPTE pressure sensors (0-10bar for 0-5V output)
cnckiwi31 4:1cdce6c6c94e 47 extern const float kSPTE0Offset;
cnckiwi31 4:1cdce6c6c94e 48 extern const float kSPTE0Factor;
cnckiwi31 4:1cdce6c6c94e 49 extern const float kSPTE1Offset;
cnckiwi31 4:1cdce6c6c94e 50 extern const float kSPTE1Factor;
cnckiwi31 4:1cdce6c6c94e 51
megrootens 0:3855d4588f76 52 // AS5048 abs angle sensor chain
megrootens 0:3855d4588f76 53 extern const int kNumJoints;
megrootens 0:3855d4588f76 54
megrootens 0:3855d4588f76 55 extern const char *kJointNames[];
megrootens 0:3855d4588f76 56 extern const float kOffsetsDegrees[];
megrootens 0:3855d4588f76 57 extern const bool kDirections[];
megrootens 0:3855d4588f76 58 }
megrootens 0:3855d4588f76 59
megrootens 0:3855d4588f76 60 namespace timing {
cnckiwi31 5:63063a9fa51c 61 extern const int LogDataHertz; //data log sample rate
megrootens 0:3855d4588f76 62 extern const int kTimeControlUs; // control loop
cnckiwi31 5:63063a9fa51c 63 extern const int LogDataHertz; // data logging
megrootens 0:3855d4588f76 64 extern const int kTimeLogDataUs; // data logging
cnckiwi31 5:63063a9fa51c 65 extern const int TimeControlHertz; // control loop sample rate
cnckiwi31 5:63063a9fa51c 66 extern const int kTimeSerialPrintUs; // serial printing
megrootens 0:3855d4588f76 67
megrootens 0:3855d4588f76 68 extern const int kSerialBaudrate;
megrootens 0:3855d4588f76 69 }
megrootens 0:3855d4588f76 70
cnckiwi31 5:63063a9fa51c 71 namespace rigStructure {
cnckiwi31 5:63063a9fa51c 72 extern const bool invertedRig; //indicates if rig is inverted or not (for internal torque calculation)
cnckiwi31 5:63063a9fa51c 73 }
megrootens 0:3855d4588f76 74
megrootens 0:3855d4588f76 75 #endif