Version 3 is with update to the test rig with a linear actuator
Dependencies: SPTE_10Bar_5V mbed AS5048 SDFileSystem MODSERIAL PinDetect LCM101 LinearActuator
Diff: constants.cpp
- Revision:
- 4:1cdce6c6c94e
- Parent:
- 2:84d479fe9b5e
- Child:
- 5:63063a9fa51c
diff -r 3fd9f1a00381 -r 1cdce6c6c94e constants.cpp --- a/constants.cpp Tue Jun 05 08:51:45 2018 +0000 +++ b/constants.cpp Fri Oct 12 12:12:55 2018 +0000 @@ -3,12 +3,21 @@ namespace sensors { // LCM101-100kgf force sensor - const float kLcm101Offset = -1.52; + const float kLcm101Offset = 1.99;//-1.52; //This is currently the offset for the S610 sensor -5.41; //Offset for LCM101 sensor = -1.52 - const float kLcm101Factor = 970.55; + const float kLcm101Factor = 969.2;//970.55; //This is currently the factor for the S610 sensor 977.35; //Factor for LCM101 sensor is 970.55 + + // Pressure sensor slope and offset values for a gauge pressure reading in bar + const float kSPTE0Offset = -2.47; + + const float kSPTE0Factor = 12.5; // + + const float kSPTE1Offset = -2.47; + + const float kSPTE1Factor = 12.5; // // AS5048 abs angle sensor chain const int kNumJoints = 4; @@ -19,8 +28,10 @@ } namespace timing { - const int kTimeControlUs = 1000; // 1000 Hz control loop - const int kTimeLogDataUs = 20000; // 50 Hz data logging + const int TimeControlHertz = 5000;// control loop sample rate + const int LogDataHertz = 500; //data log sample rate + const int kTimeControlUs = 1000000/TimeControlHertz; // 1000 Hz control loop + const int kTimeLogDataUs = 1000000/LogDataHertz; // 200 Hz data logging const int kTimeSerialPrintUs = 500000; // 2 Hz serial print const int kSerialBaudrate = 115200;