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
- Committer:
- surajgiri
- Date:
- 2020-10-20
- Revision:
- 13:219c16e7d32c
- Parent:
- 11:fc82dd22a527
File content as of revision 13:219c16e7d32c:
#include "constants.h" namespace sensors { const bool use5kN = false; // LCM101-100kgf force sensor // Equation from 7/6/2018 calibration used: // kLcm101Offset = 1.99 // kLcm101Factor = 969.2 // Equation from 8/3/2019 calibration used: // kLcm101Offset = 4.31 // kLcm101Factor = 1001.1 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 = 970.55;//970.55; //This is currently the factor for the S610 sensor 977.35; //Factor for LCM101 sensor is 970.55 // Gen5kN force sensor // Equation from 21/2/2019 calibration used: // kLcm101Offset = 21.2 // kLcm101Factor = 5530 const float kGen5kNOffset = 0; const float kGen5kNFactor = 5530; // Pressure sensor slope and offset values for a gauge pressure reading in bar // Equation from 25/6/2018 calibration used: // kSPTE0Offset = -2.47 // kSPTE0Factor = 12.5 // Equation from 21/2/2019 calibration used // kSPTE0Offset = -2.33 // kSPTE0Factor = 12.0 const float kSPTE0Offset = -2.33; const float kSPTE0Factor = 12.0; const float kSPTE1Offset = -2.47; const float kSPTE1Factor = 12.5; // // AS5048 abs angle sensor chain const int kNumJoints = 1; const char *kJointNames[] = {"Knee"};//{"1","Knee","3","4"}; 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 = 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 const int kTimeSerialPrintUs = 1000000/SerialPrintHertz; // 2 Hz serial print const int minKeyInt = 1; //minimum key press interval in s const int kSerialBaudrate = 115200; const int PWMHertz = 10000; } namespace rigStructure { const bool invertedRig = false; //indicates if rig is inverted or not (for internal torque calculation) }