Diff: constants.cpp

Revision:

5:63063a9fa51c

Parent:

4:1cdce6c6c94e

Child:

10:77fcbad99a31

diff -r 1cdce6c6c94e -r 63063a9fa51c constants.cpp
--- a/constants.cpp	Fri Oct 12 12:12:55 2018 +0000
+++ b/constants.cpp	Mon Dec 09 10:51:46 2019 +0000
@@ -1,38 +1,67 @@
 #include "constants.h"
 
 namespace sensors {
+    const bool use5kN = true;
     
     // LCM101-100kgf force sensor
-    const float kLcm101Offset = 1.99;//-1.52;
+    // 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 = 4.31;//-1.52;
     //This is currently the offset for the S610 sensor -5.41;
     //Offset for LCM101 sensor = -1.52
-    const float kLcm101Factor = 969.2;//970.55;
+    const float kLcm101Factor = 1001.1;//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 = 21.2;
+    const float kGen5kNFactor = 5530;    
+    
     // Pressure sensor slope and offset values for a gauge pressure reading in bar
-    const float kSPTE0Offset = -2.47;
+    // Equation from 25/6/2018 calibration used:
+    // kSPTE0Offset = -2.47
+    // kSPTE0Factor = 12.5
     
-    const float 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 = 4;
+    const int kNumJoints = 1;
 
-    const char *kJointNames[]     = {"Toes","Ankle","Knee","Hip"};
-    const float kOffsetsDegrees[] = {83.2f,6.3f,170.7f,6.5f};
-    const bool kDirections[] = {false,true,false,true};
+    const char *kJointNames[]     = {"Knee"};//{"1","Knee","3","4"};
+    const float kOffsetsDegrees[] = {76.9};//{180,180,180,180};
+    const bool kDirections[] = {true};//{true,true,true,true};
 }
 
 namespace timing {
-    const int TimeControlHertz = 5000;// control loop sample rate
-    const int LogDataHertz = 500; //data log sample rate
+    const int TimeControlHertz = 1000;// control loop sample rate
+    const int LogDataHertz = 250; //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        = 500000;   //    2 Hz serial print
+    const int kTimeSerialPrintUs        = 1000000/SerialPrintHertz;   //    2 Hz serial print
   
     const int kSerialBaudrate = 115200;
+}
+
+namespace rigStructure {
+    const bool invertedRig = false; //indicates if rig is inverted or not (for internal torque calculation)
 }
\ No newline at end of file