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

constants.h

Committer:
cnckiwi31
Date:
2019-12-09
Revision:
5:63063a9fa51c
Parent:
4:1cdce6c6c94e
Child:
10:77fcbad99a31

File content as of revision 5:63063a9fa51c:

#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       

// 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           D8

/**
 * 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 kSerialBaudrate;
}

namespace rigStructure {
    extern const bool invertedRig; //indicates if rig is inverted or not (for internal torque calculation)
}

#endif