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@12:b0a6faaa5e9f, 2020-02-25 (annotated)

Committer:
cnckiwi31
Date:
Tue Feb 25 15:04:21 2020 +0000
Revision:
12:b0a6faaa5e9f
Parent:
10:77fcbad99a31 
Manual data logging call

Who changed what in which revision?

UserRevisionLine numberNew contents of line
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 12:b0a6faaa5e9f 61
cnckiwi31 12:b0a6faaa5e9f 62 void StopLogging(); //halts the data logging if we are now datalogging
cnckiwi31 12:b0a6faaa5e9f 63 void StartLogging(const char * fname_append = "data"); //starts datalogging
cnckiwi31 12:b0a6faaa5e9f 64 void RestartLogging(const char * fname_append = "data");//restart datalogging
cnckiwi31 12:b0a6faaa5e9f 65 void LogData();
cnckiwi31 5:63063a9fa51c 66
cnckiwi31 5:63063a9fa51c 67 //reading angle sensors
cnckiwi31 5:63063a9fa51c 68 As5048* get_as5048();
cnckiwi31 5:63063a9fa51c 69
megrootens 0:3855d4588f76 70 float getDegrees(int i_joint);
megrootens 0:3855d4588f76 71 float getDegrees(Joint joint);
megrootens 0:3855d4588f76 72
megrootens 0:3855d4588f76 73 float getRadians(int i_joint);
megrootens 0:3855d4588f76 74 float getRadians(Joint joint);
megrootens 0:3855d4588f76 75
megrootens 0:3855d4588f76 76 const char* getJointName(int i_joint);
megrootens 0:3855d4588f76 77 const char* getJointName(Joint joint);
megrootens 0:3855d4588f76 78
cnckiwi31 5:63063a9fa51c 79 //reading and calibrating force and pressure sensors
megrootens 0:3855d4588f76 80 float getForce();
cnckiwi31 4:1cdce6c6c94e 81 void nullForce();
cnckiwi31 4:1cdce6c6c94e 82
cnckiwi31 4:1cdce6c6c94e 83 float getPressure0();
cnckiwi31 4:1cdce6c6c94e 84 void nullPressure0();
cnckiwi31 4:1cdce6c6c94e 85 float getPressure1();
cnckiwi31 4:1cdce6c6c94e 86 void nullPressure1();
megrootens 0:3855d4588f76 87
cnckiwi31 10:77fcbad99a31 88 //MAX5322 DACs (two channels per DAC)
cnckiwi31 10:77fcbad99a31 89 void setDACA(DACChannel ch, unsigned int bitValue);
cnckiwi31 10:77fcbad99a31 90 void setDACB(DACChannel ch, unsigned int bitValue);
cnckiwi31 10:77fcbad99a31 91
cnckiwi31 5:63063a9fa51c 92 //controlling valve
cnckiwi31 5:63063a9fa51c 93 bool getValve();
cnckiwi31 5:63063a9fa51c 94 void setValve(bool pressurise);
cnckiwi31 5:63063a9fa51c 95
cnckiwi31 8:bc467f5fe7c3 96 /** Object for printing/receiving data to the PC the test rig is connected
cnckiwi31 8:bc467f5fe7c3 97 * to. Note that it uses the MODSERIAL.h class.
cnckiwi31 8:bc467f5fe7c3 98 */
cnckiwi31 5:63063a9fa51c 99 MODSERIAL pc;
cnckiwi31 5:63063a9fa51c 100
cnckiwi31 5:63063a9fa51c 101 void pausePrint();
cnckiwi31 5:63063a9fa51c 102 void resumePrint();
cnckiwi31 5:63063a9fa51c 103
cnckiwi31 5:63063a9fa51c 104 private:
cnckiwi31 5:63063a9fa51c 105 //timing
cnckiwi31 5:63063a9fa51c 106 int loggingUS; //microseconds between recording data logging
cnckiwi31 5:63063a9fa51c 107 float loggingHz;// Hz of data logging
cnckiwi31 5:63063a9fa51c 108
cnckiwi31 5:63063a9fa51c 109 Ticker tick_update, tick_serial, tick_logging; //for the updating of sensor values, printing of serial data and logging of data
cnckiwi31 5:63063a9fa51c 110 Timer timer;
cnckiwi31 5:63063a9fa51c 111 int firstReadMS; //first timer value read
cnckiwi31 5:63063a9fa51c 112 bool startedLogging; //in the middle of a logging cycle
cnckiwi31 5:63063a9fa51c 113
cnckiwi31 5:63063a9fa51c 114 bool is_logging;
cnckiwi31 5:63063a9fa51c 115 bool is_printing;
cnckiwi31 5:63063a9fa51c 116 bool was_printing; //if printing is paused true if is_printing was true
cnckiwi31 5:63063a9fa51c 117
cnckiwi31 5:63063a9fa51c 118 //buttons
cnckiwi31 5:63063a9fa51c 119 PinDetect lowerBut;
cnckiwi31 5:63063a9fa51c 120 PinDetect upperBut;
cnckiwi31 5:63063a9fa51c 121
cnckiwi31 5:63063a9fa51c 122 //joint angle
cnckiwi31 5:63063a9fa51c 123 As5048 as5048_;
cnckiwi31 5:63063a9fa51c 124
cnckiwi31 5:63063a9fa51c 125 //load cells
cnckiwi31 5:63063a9fa51c 126 Lcm101 loadCell5kN;
cnckiwi31 5:63063a9fa51c 127 Lcm101 loadCell1kN;
cnckiwi31 5:63063a9fa51c 128 bool use5kN;//determine which load cell is used
cnckiwi31 5:63063a9fa51c 129
cnckiwi31 5:63063a9fa51c 130 //pressure sensors
cnckiwi31 5:63063a9fa51c 131 SPTEPressureSensor spte0;
cnckiwi31 5:63063a9fa51c 132 SPTEPressureSensor spte1;
cnckiwi31 5:63063a9fa51c 133
cnckiwi31 5:63063a9fa51c 134 //valve
cnckiwi31 5:63063a9fa51c 135 ValveDigital valveFesto;
cnckiwi31 5:63063a9fa51c 136
cnckiwi31 5:63063a9fa51c 137 //SD card
cnckiwi31 5:63063a9fa51c 138 SDFileSystem sd;
cnckiwi31 5:63063a9fa51c 139 FILE * fp_data;
cnckiwi31 5:63063a9fa51c 140 int fname_prepend;//file number
cnckiwi31 5:63063a9fa51c 141 bool sd_card_present;//card detected
cnckiwi31 5:63063a9fa51c 142
cnckiwi31 5:63063a9fa51c 143 static const int maxCols = 5;
cnckiwi31 5:63063a9fa51c 144 int usedExtraCols; //number of extra columns useds
cnckiwi31 5:63063a9fa51c 145 string extraColNames[maxCols];//names of extra columns (up to maxCols allowed with 15 characters)
cnckiwi31 5:63063a9fa51c 146 float extraColValues[maxCols];//value held in extra columns for current time step
cnckiwi31 5:63063a9fa51c 147
cnckiwi31 12:b0a6faaa5e9f 148 void InitSdCard();
cnckiwi31 12:b0a6faaa5e9f 149
cnckiwi31 5:63063a9fa51c 150 void ToggleLogging();
cnckiwi31 5:63063a9fa51c 151
cnckiwi31 5:63063a9fa51c 152 // serial printing
cnckiwi31 5:63063a9fa51c 153 void TogglePrinting();
cnckiwi31 5:63063a9fa51c 154 void PrintStatus();
cnckiwi31 5:63063a9fa51c 155 void PrintMenu();
cnckiwi31 5:63063a9fa51c 156 };
megrootens 0:3855d4588f76 157 #endif