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
- Committer:
- surajgiri
- Date:
- 2020-10-20
- Revision:
- 13:219c16e7d32c
- Parent:
- 11:fc82dd22a527
File content as of revision 13:219c16e7d32c:
#ifndef _CONSTANTS_HARDWARE_H_ #define _CONSTANTS_HARDWARE_H_ #include "mbed.h" #ifndef M_PI #define M_PI 3.14159265359f #endif // SPI Communication AS5048 joint encoders #define AS5048_MOSI PTD6 // D11 #define AS5048_MISO PTD7 // D12 #define AS5048_SCLK PTD5 // D13 #define AS5048_CS PTD4 // D10 // SPI Communication external SD CARD #define SD_MOSI PTC6 // D7 #define SD_MISO PTC7 #define SD_SCK PTC5 #define SD_CS PTC10 // SPI Communication MAX5322 DAC #define DAC_MOSI PTD6 // D11 #define DAC_MISO PTD7 // D12 #define DAC_SCLK PTD5 // D13 #define DAC_CSA D8 #define DAC_CSB D1 // LCM101-100 kgf S-beam force sensor #define LCM101 A1 // SPTE analog output pressure sensors (0-10bar for 0-5V output) #define SPTE_0 A0 #define SPTE_1 A5 //Festo digital valve (one for inflate) #define VALVE_PIN D0 //Linear actuator #define LINACT_DIR_PIN D5 #define LINACT_PWM_PIN D6 /** * Sensor settings and calibration data */ namespace sensors { extern const bool use5kN; // LCM101-100kgf force sensor extern const float kLcm101Offset; extern const float kLcm101Factor; // Gen5kN force sensor extern const float kGen5kNOffset; extern const float kGen5kNFactor; //SPTE pressure sensors (0-10bar for 0-5V output) extern const float kSPTE0Offset; extern const float kSPTE0Factor; extern const float kSPTE1Offset; extern const float kSPTE1Factor; // AS5048 abs angle sensor chain extern const int kNumJoints; extern const char *kJointNames[]; extern const float kOffsetsDegrees[]; extern const bool kDirections[]; } namespace timing { extern const int LogDataHertz; //data log sample rate extern const int kTimeControlUs; // control loop extern const int LogDataHertz; // data logging extern const int kTimeLogDataUs; // data logging extern const int TimeControlHertz; // control loop sample rate extern const int kTimeSerialPrintUs; // serial printing extern const int minKeyInt; //key interval time out value extern const int kSerialBaudrate; extern const int PWMHertz; //Linear actuator frequency for pwm } namespace rigStructure { extern const bool invertedRig; //indicates if rig is inverted or not (for internal torque calculation) } #endif