Revision 13:219c16e7d32c, committed 2020-10-20

Comitter:

surajgiri

Date:

Tue Oct 20 12:50:40 2020 +0000

Parent:

11:fc82dd22a527

Commit message:

Update with linear actuator

Changed in this revision

--- a/constants.cpp	Wed Aug 12 12:05:58 2020 +0000
+++ b/constants.cpp	Tue Oct 20 12:50:40 2020 +0000
@@ -1,7 +1,7 @@
 #include "constants.h"
 
 namespace sensors {
-    const bool use5kN = true;
+    const bool use5kN = false;
     
     // LCM101-100kgf force sensor
     // Equation from 7/6/2018 calibration used:
@@ -11,10 +11,10 @@
     // kLcm101Offset = 4.31
     // kLcm101Factor = 1001.1
     
-    const float kLcm101Offset = 4.31;//-1.52;
+    const float kLcm101Offset = -1.5;//-1.52;
     //This is currently the offset for the S610 sensor -5.41;
     //Offset for LCM101 sensor = -1.52
-    const float kLcm101Factor = 1001.1;//970.55;
+    const float kLcm101Factor = 970.55;//970.55;
     //This is currently the factor for the S610 sensor 977.35;
     //Factor for LCM101 sensor is 970.55
     
@@ -47,13 +47,13 @@
     const int kNumJoints = 1;
 
     const char *kJointNames[]     = {"Knee"};//{"1","Knee","3","4"};
-    const float kOffsetsDegrees[] = {76.9};//{180,180,180,180};
+    const float kOffsetsDegrees[] = {250};//{180,180,180,180};
     const bool kDirections[] = {true};//{true,true,true,true};
 }
 
 namespace timing {
     const int TimeControlHertz = 1000;// control loop sample rate
-    const int LogDataHertz = 250; //data log sample rate
+    const int LogDataHertz = 249; //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

--- a/main.cpp	Wed Aug 12 12:05:58 2020 +0000
+++ b/main.cpp	Tue Oct 20 12:50:40 2020 +0000
@@ -43,8 +43,8 @@
     string colNames[] = {"Target pressure (kPa)","Cycle",}; //add data headings
     leg.setExtraColumns(colNames,2);
     
-    float targetP = 350;                                                                                                                                                                                             0; //Target pressure in kPa
-    int expCycles = 100; //Number of sit to stand to sit cycles 
+    float targetP = 300;                                                                                                                                                                                        
+    int expCycles = 40; //Number of sit to stand to sit cycles 
     float vals[] = {targetP,0}; //set initial values of data that will be logged
     leg.setExtraData(vals);
     
@@ -60,7 +60,7 @@
     while (true) {
         if (leg.isLogging()) {
             leg.pc.printf("Logging started");
-            //runFatigueExperiment0(expCycles,targetP,10,10);
+            runFatigueExperiment0(expCycles,targetP,10,10);
             //runBenchmarkExperiment0();
             runBenchmarkExperiment1(75, 1, 10);    
             //runFailureExp0(targetP);        
@@ -82,7 +82,7 @@
     //The experiment starts when logging does
     Timer flowT;//used to time flow into and out of actuator
     float loopTime = 0.1; //(s) time between checking pressure
-    int num_file = 10; //number of data files to save 
+    int num_file = 1; //number of data files to save 
     
     for (int i=0; i<num_file; i++) {