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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@4:1cdce6c6c94e, 2018-10-12 (annotated)
- Committer:
- cnckiwi31
- Date:
- Fri Oct 12 12:12:55 2018 +0000
- Revision:
- 4:1cdce6c6c94e
- Parent:
- 0:3855d4588f76
- Child:
- 5:63063a9fa51c
HeRoS: read out and log joint angles and force sensor data from the leg test bench.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
megrootens | 0:3855d4588f76 | 1 | #ifndef _CONSTANTS_HARDWARE_H_ |
megrootens | 0:3855d4588f76 | 2 | #define _CONSTANTS_HARDWARE_H_ |
megrootens | 0:3855d4588f76 | 3 | |
megrootens | 0:3855d4588f76 | 4 | #include "mbed.h" |
megrootens | 0:3855d4588f76 | 5 | |
megrootens | 0:3855d4588f76 | 6 | #ifndef M_PI |
megrootens | 0:3855d4588f76 | 7 | #define M_PI 3.14159265359f |
megrootens | 0:3855d4588f76 | 8 | #endif |
megrootens | 0:3855d4588f76 | 9 | |
megrootens | 0:3855d4588f76 | 10 | // SPI Communication AS5048 joint encoders |
megrootens | 0:3855d4588f76 | 11 | #define AS5048_MOSI PTD6 // D11 |
megrootens | 0:3855d4588f76 | 12 | #define AS5048_MISO PTD7 // D12 |
megrootens | 0:3855d4588f76 | 13 | #define AS5048_SCLK PTD5 // D13 |
megrootens | 0:3855d4588f76 | 14 | #define AS5048_CS PTD4 // D10 |
megrootens | 0:3855d4588f76 | 15 | |
megrootens | 0:3855d4588f76 | 16 | // SPI Communication external SD CARD |
megrootens | 0:3855d4588f76 | 17 | #define SD_MOSI PTC6 // D7 |
megrootens | 0:3855d4588f76 | 18 | #define SD_MISO PTC7 |
megrootens | 0:3855d4588f76 | 19 | #define SD_SCK PTC5 |
megrootens | 0:3855d4588f76 | 20 | #define SD_CS PTC10 |
megrootens | 0:3855d4588f76 | 21 | |
megrootens | 0:3855d4588f76 | 22 | // LCM101-100 kgf S-beam force sensor |
cnckiwi31 | 4:1cdce6c6c94e | 23 | #define LCM101 A1 |
cnckiwi31 | 4:1cdce6c6c94e | 24 | |
cnckiwi31 | 4:1cdce6c6c94e | 25 | // SPTE analog output pressure sensors (0-10bar for 0-5V output) |
cnckiwi31 | 4:1cdce6c6c94e | 26 | #define SPTE_0 A0 |
cnckiwi31 | 4:1cdce6c6c94e | 27 | #define SPTE_1 A5 |
megrootens | 0:3855d4588f76 | 28 | |
megrootens | 0:3855d4588f76 | 29 | /** |
megrootens | 0:3855d4588f76 | 30 | * Sensor settings and calibration data |
megrootens | 0:3855d4588f76 | 31 | */ |
megrootens | 0:3855d4588f76 | 32 | namespace sensors { |
megrootens | 0:3855d4588f76 | 33 | |
megrootens | 0:3855d4588f76 | 34 | // LCM101-100kgf force sensor |
megrootens | 0:3855d4588f76 | 35 | extern const float kLcm101Offset; |
megrootens | 0:3855d4588f76 | 36 | extern const float kLcm101Factor; |
megrootens | 0:3855d4588f76 | 37 | |
cnckiwi31 | 4:1cdce6c6c94e | 38 | //SPTE pressure sensors (0-10bar for 0-5V output) |
cnckiwi31 | 4:1cdce6c6c94e | 39 | extern const float kSPTE0Offset; |
cnckiwi31 | 4:1cdce6c6c94e | 40 | extern const float kSPTE0Factor; |
cnckiwi31 | 4:1cdce6c6c94e | 41 | extern const float kSPTE1Offset; |
cnckiwi31 | 4:1cdce6c6c94e | 42 | extern const float kSPTE1Factor; |
cnckiwi31 | 4:1cdce6c6c94e | 43 | |
megrootens | 0:3855d4588f76 | 44 | // AS5048 abs angle sensor chain |
megrootens | 0:3855d4588f76 | 45 | extern const int kNumJoints; |
megrootens | 0:3855d4588f76 | 46 | |
megrootens | 0:3855d4588f76 | 47 | extern const char *kJointNames[]; |
megrootens | 0:3855d4588f76 | 48 | extern const float kOffsetsDegrees[]; |
megrootens | 0:3855d4588f76 | 49 | extern const bool kDirections[]; |
megrootens | 0:3855d4588f76 | 50 | } |
megrootens | 0:3855d4588f76 | 51 | |
megrootens | 0:3855d4588f76 | 52 | namespace timing { |
megrootens | 0:3855d4588f76 | 53 | extern const int kTimeControlUs; // control loop |
megrootens | 0:3855d4588f76 | 54 | extern const int kTimeLogDataUs; // data logging |
megrootens | 0:3855d4588f76 | 55 | extern const int kTimeSerialPrintUs; // serial printing |
megrootens | 0:3855d4588f76 | 56 | |
megrootens | 0:3855d4588f76 | 57 | extern const int kSerialBaudrate; |
megrootens | 0:3855d4588f76 | 58 | } |
megrootens | 0:3855d4588f76 | 59 | |
megrootens | 0:3855d4588f76 | 60 | |
megrootens | 0:3855d4588f76 | 61 | #endif |