Diff: constants.cpp

Revision:

13:219c16e7d32c

Parent:

11:fc82dd22a527

--- a/constants.cpp	Wed Aug 12 12:05:58 2020 +0000
+++ b/constants.cpp	Tue Oct 20 12:50:40 2020 +0000
@@ -1,7 +1,7 @@
 #include "constants.h"
 
 namespace sensors {
-    const bool use5kN = true;
+    const bool use5kN = false;
     
     // LCM101-100kgf force sensor
     // Equation from 7/6/2018 calibration used:
@@ -11,10 +11,10 @@
     // kLcm101Offset = 4.31
     // kLcm101Factor = 1001.1
     
-    const float kLcm101Offset = 4.31;//-1.52;
+    const float kLcm101Offset = -1.5;//-1.52;
     //This is currently the offset for the S610 sensor -5.41;
     //Offset for LCM101 sensor = -1.52
-    const float kLcm101Factor = 1001.1;//970.55;
+    const float kLcm101Factor = 970.55;//970.55;
     //This is currently the factor for the S610 sensor 977.35;
     //Factor for LCM101 sensor is 970.55
     
@@ -47,13 +47,13 @@
     const int kNumJoints = 1;
 
     const char *kJointNames[]     = {"Knee"};//{"1","Knee","3","4"};
-    const float kOffsetsDegrees[] = {76.9};//{180,180,180,180};
+    const float kOffsetsDegrees[] = {250};//{180,180,180,180};
     const bool kDirections[] = {true};//{true,true,true,true};
 }
 
 namespace timing {
     const int TimeControlHertz = 1000;// control loop sample rate
-    const int LogDataHertz = 250; //data log sample rate
+    const int LogDataHertz = 249; //data log sample rate
     const int SerialPrintHertz = 2; //print rate of serial 
     const int kTimeControlUs            =   1000000/TimeControlHertz;   // 1000 Hz control loop
     const int kTimeLogDataUs            =  1000000/LogDataHertz;   //   200 Hz data logging