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

bench.h@10:77fcbad99a31, 2020-02-17 (annotated)

Committer:
cnckiwi31
Date:
Mon Feb 17 15:15:24 2020 +0000
Revision:
10:77fcbad99a31
Parent:
8:bc467f5fe7c3
Child:
11:fc82dd22a527
Child:
12:b0a6faaa5e9f
Latest commit

Who changed what in which revision?

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megrootens 0:3855d4588f76 1 #ifndef _BENCH02_H_
megrootens 0:3855d4588f76 2 #define _BENCH02_H_
cnckiwi31 5:63063a9fa51c 3 #include "MODSERIAL.h"
megrootens 0:3855d4588f76 4
megrootens 0:3855d4588f76 5 #include "mbed.h"
cnckiwi31 5:63063a9fa51c 6 #include <string>
cnckiwi31 5:63063a9fa51c 7
cnckiwi31 5:63063a9fa51c 8 #include "SDFileSystem.h"
cnckiwi31 5:63063a9fa51c 9 #include "constants.h"
cnckiwi31 5:63063a9fa51c 10
megrootens 0:3855d4588f76 11 #include "as5048.h"
megrootens 0:3855d4588f76 12 #include "lcm101.h"
cnckiwi31 4:1cdce6c6c94e 13 #include "SPTEPressureSensor.h"
cnckiwi31 5:63063a9fa51c 14 #include "Valve.h"
cnckiwi31 5:63063a9fa51c 15
cnckiwi31 5:63063a9fa51c 16 #include "PinDetect.h"
megrootens 0:3855d4588f76 17
megrootens 0:3855d4588f76 18 /**
cnckiwi31 6:02507d7a6f51 19 * Class to read out sensory information from the second test bench:
cnckiwi31 6:02507d7a6f51 20 * the knee joint angle as measured by an AMS AS5048 absolute rotary sensor
cnckiwi31 6:02507d7a6f51 21 * the vertical force applied externally at the hip joint
cnckiwi31 6:02507d7a6f51 22 * the pressure (for example of an actuator used in the device under test).
cnckiwi31 6:02507d7a6f51 23 * Additionally, an on /off valve can pressurise the actuator on the leg
megrootens 0:3855d4588f76 24 */
megrootens 0:3855d4588f76 25 class Bench {
megrootens 0:3855d4588f76 26 public:
megrootens 0:3855d4588f76 27
megrootens 0:3855d4588f76 28 static const float kCutOffDegrees = 180.0f;
megrootens 0:3855d4588f76 29 static const float kCutOffRadians = 3.14159265359f;
megrootens 0:3855d4588f76 30
megrootens 0:3855d4588f76 31 enum Joint {
megrootens 0:3855d4588f76 32 TOES,
megrootens 0:3855d4588f76 33 ANKLE,
megrootens 0:3855d4588f76 34 KNEE,
megrootens 0:3855d4588f76 35 HIP
megrootens 0:3855d4588f76 36 };
cnckiwi31 5:63063a9fa51c 37
cnckiwi31 10:77fcbad99a31 38 enum DACChannel {
cnckiwi31 10:77fcbad99a31 39 A,
cnckiwi31 10:77fcbad99a31 40 B
cnckiwi31 10:77fcbad99a31 41 };
cnckiwi31 10:77fcbad99a31 42
cnckiwi31 5:63063a9fa51c 43 // constructor
cnckiwi31 5:63063a9fa51c 44 Bench(PinName mosi = AS5048_MOSI, PinName miso = AS5048_MISO, PinName sck = AS5048_SCLK, PinName cs = AS5048_CS,
cnckiwi31 5:63063a9fa51c 45 bool use5kN = sensors::use5kN,PinName p_lcm101 = LCM101,
cnckiwi31 5:63063a9fa51c 46 PinName p_spte0 = SPTE_0, PinName p_spte1 = SPTE_1,PinName p_valve = VALVE_PIN,
cnckiwi31 5:63063a9fa51c 47 PinName sd_mosi = SD_MOSI, PinName sd_miso = SD_MISO, PinName sd_sck = SD_SCK, PinName sd_cs = SD_CS,
cnckiwi31 5:63063a9fa51c 48 PinName tx = USBTX, PinName rx = USBRX, PinName but0 = SW2, PinName but1 = SW3);
megrootens 0:3855d4588f76 49
cnckiwi31 5:63063a9fa51c 50
cnckiwi31 5:63063a9fa51c 51 //setup
cnckiwi31 5:63063a9fa51c 52 void initialise();
megrootens 0:3855d4588f76 53
cnckiwi31 5:63063a9fa51c 54 void setLoggingFrequency(float logHertz);
cnckiwi31 5:63063a9fa51c 55 void setExtraColumns(string extraColumnNames[], int numCols);
cnckiwi31 5:63063a9fa51c 56 void setExtraData(float data[]);
cnckiwi31 5:63063a9fa51c 57 void update();
megrootens 0:3855d4588f76 58
cnckiwi31 5:63063a9fa51c 59 bool isLogging();//indicates if we are now datalogging
cnckiwi31 5:63063a9fa51c 60 void stopLogging();//halts the data logging if we are now datalogging
cnckiwi31 5:63063a9fa51c 61
cnckiwi31 5:63063a9fa51c 62 //reading angle sensors
cnckiwi31 5:63063a9fa51c 63 As5048* get_as5048();
cnckiwi31 5:63063a9fa51c 64
megrootens 0:3855d4588f76 65 float getDegrees(int i_joint);
megrootens 0:3855d4588f76 66 float getDegrees(Joint joint);
megrootens 0:3855d4588f76 67
megrootens 0:3855d4588f76 68 float getRadians(int i_joint);
megrootens 0:3855d4588f76 69 float getRadians(Joint joint);
megrootens 0:3855d4588f76 70
megrootens 0:3855d4588f76 71 const char* getJointName(int i_joint);
megrootens 0:3855d4588f76 72 const char* getJointName(Joint joint);
megrootens 0:3855d4588f76 73
cnckiwi31 5:63063a9fa51c 74 //reading and calibrating force and pressure sensors
megrootens 0:3855d4588f76 75 float getForce();
cnckiwi31 4:1cdce6c6c94e 76 void nullForce();
cnckiwi31 4:1cdce6c6c94e 77
cnckiwi31 4:1cdce6c6c94e 78 float getPressure0();
cnckiwi31 4:1cdce6c6c94e 79 void nullPressure0();
cnckiwi31 4:1cdce6c6c94e 80 float getPressure1();
cnckiwi31 4:1cdce6c6c94e 81 void nullPressure1();
megrootens 0:3855d4588f76 82
cnckiwi31 10:77fcbad99a31 83 //MAX5322 DACs (two channels per DAC)
cnckiwi31 10:77fcbad99a31 84 void setDACA(DACChannel ch, unsigned int bitValue);
cnckiwi31 10:77fcbad99a31 85 void setDACB(DACChannel ch, unsigned int bitValue);
cnckiwi31 10:77fcbad99a31 86
cnckiwi31 5:63063a9fa51c 87 //controlling valve
cnckiwi31 5:63063a9fa51c 88 bool getValve();
cnckiwi31 5:63063a9fa51c 89 void setValve(bool pressurise);
cnckiwi31 5:63063a9fa51c 90
cnckiwi31 8:bc467f5fe7c3 91 /** Object for printing/receiving data to the PC the test rig is connected
cnckiwi31 8:bc467f5fe7c3 92 * to. Note that it uses the MODSERIAL.h class.
cnckiwi31 8:bc467f5fe7c3 93 */
cnckiwi31 5:63063a9fa51c 94 MODSERIAL pc;
cnckiwi31 5:63063a9fa51c 95
cnckiwi31 5:63063a9fa51c 96 void pausePrint();
cnckiwi31 5:63063a9fa51c 97 void resumePrint();
cnckiwi31 5:63063a9fa51c 98
cnckiwi31 5:63063a9fa51c 99 private:
cnckiwi31 5:63063a9fa51c 100 //timing
cnckiwi31 5:63063a9fa51c 101 int loggingUS; //microseconds between recording data logging
cnckiwi31 5:63063a9fa51c 102 float loggingHz;// Hz of data logging
cnckiwi31 5:63063a9fa51c 103
cnckiwi31 5:63063a9fa51c 104 Ticker tick_update, tick_serial, tick_logging; //for the updating of sensor values, printing of serial data and logging of data
cnckiwi31 5:63063a9fa51c 105 Timer timer;
cnckiwi31 5:63063a9fa51c 106 int firstReadMS; //first timer value read
cnckiwi31 5:63063a9fa51c 107 bool startedLogging; //in the middle of a logging cycle
cnckiwi31 5:63063a9fa51c 108
cnckiwi31 5:63063a9fa51c 109 bool is_logging;
cnckiwi31 5:63063a9fa51c 110 bool is_printing;
cnckiwi31 5:63063a9fa51c 111 bool was_printing; //if printing is paused true if is_printing was true
cnckiwi31 5:63063a9fa51c 112
cnckiwi31 5:63063a9fa51c 113 //buttons
cnckiwi31 5:63063a9fa51c 114 PinDetect lowerBut;
cnckiwi31 5:63063a9fa51c 115 PinDetect upperBut;
cnckiwi31 5:63063a9fa51c 116
cnckiwi31 5:63063a9fa51c 117 //joint angle
cnckiwi31 5:63063a9fa51c 118 As5048 as5048_;
cnckiwi31 5:63063a9fa51c 119
cnckiwi31 5:63063a9fa51c 120 //load cells
cnckiwi31 5:63063a9fa51c 121 Lcm101 loadCell5kN;
cnckiwi31 5:63063a9fa51c 122 Lcm101 loadCell1kN;
cnckiwi31 5:63063a9fa51c 123 bool use5kN;//determine which load cell is used
cnckiwi31 5:63063a9fa51c 124
cnckiwi31 5:63063a9fa51c 125 //pressure sensors
cnckiwi31 5:63063a9fa51c 126 SPTEPressureSensor spte0;
cnckiwi31 5:63063a9fa51c 127 SPTEPressureSensor spte1;
cnckiwi31 5:63063a9fa51c 128
cnckiwi31 5:63063a9fa51c 129 //valve
cnckiwi31 5:63063a9fa51c 130 ValveDigital valveFesto;
cnckiwi31 5:63063a9fa51c 131
cnckiwi31 5:63063a9fa51c 132 //SD card
cnckiwi31 5:63063a9fa51c 133 SDFileSystem sd;
cnckiwi31 5:63063a9fa51c 134 FILE * fp_data;
cnckiwi31 5:63063a9fa51c 135 int fname_prepend;//file number
cnckiwi31 5:63063a9fa51c 136 bool sd_card_present;//card detected
cnckiwi31 5:63063a9fa51c 137
cnckiwi31 5:63063a9fa51c 138 static const int maxCols = 5;
cnckiwi31 5:63063a9fa51c 139 int usedExtraCols; //number of extra columns useds
cnckiwi31 5:63063a9fa51c 140 string extraColNames[maxCols];//names of extra columns (up to maxCols allowed with 15 characters)
cnckiwi31 5:63063a9fa51c 141 float extraColValues[maxCols];//value held in extra columns for current time step
cnckiwi31 5:63063a9fa51c 142
cnckiwi31 5:63063a9fa51c 143 void InitSdCard();
cnckiwi31 5:63063a9fa51c 144 void StartLogging(const char * fname_append = "data");
cnckiwi31 5:63063a9fa51c 145 void StopLogging();
cnckiwi31 5:63063a9fa51c 146 void LogData();
cnckiwi31 5:63063a9fa51c 147 void ToggleLogging();
cnckiwi31 5:63063a9fa51c 148
cnckiwi31 5:63063a9fa51c 149 // serial printing
cnckiwi31 5:63063a9fa51c 150 void TogglePrinting();
cnckiwi31 5:63063a9fa51c 151 void PrintStatus();
cnckiwi31 5:63063a9fa51c 152 void PrintMenu();
cnckiwi31 5:63063a9fa51c 153 };
megrootens 0:3855d4588f76 154 #endif