calibration.h File Reference

#include "communication/communication.h"

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Macros
#define	SUCCESS   1
#define	FAILURE   -1
#define	ACC_BIAS_X   19.2
#define	ACC_BIAS_Y   6.024
#define	ACC_BIAS_Z   -18.97
#define	ACC_FS_X   262.82
#define	ACC_FS_Y   262.15
#define	ACC_FS_Z   252.20
#define	MAG_BIAS_X   -143
#define	MAG_BIAS_Y   -101
#define	MAG_BIAS_Z   3
#define	MAG_FS_X   177
#define	MAG_FS_Y   139
#define	MAG_FS_Z   85
#define	GYR_BIAS_X   -60.8067
#define	GYR_BIAS_Y   40.0800
#define	GYR_BIAS_Z   0.7267
#define	GYR_FS_X   0.001214142
#define	GYR_FS_Y   0.001214142
#define	GYR_FS_Z   0.001214142
#define	ENC_FS   0.08789062
#define	ENC_MAX   4096

Functions
void	calibrate_all (IMU_DATA_STRUCT *imu_data)
	Calibrate all sensors. More...
void	calibrate_imu (IMU_DATA_STRUCT *imu_data)
	Calibrate imu sensors. More...
void	calibrate_enc (ENC_DATA_STRUCT *enc_data)
	Calibrate encoder to return values in the rage of 0 to 90. More...

Macro Definition Documentation

#define ACC_BIAS_X   19.2

Definition at line 10 of file calibration.h.

#define ACC_BIAS_Y   6.024

Definition at line 11 of file calibration.h.

#define ACC_BIAS_Z   -18.97

Definition at line 12 of file calibration.h.

#define ACC_FS_X   262.82

Definition at line 13 of file calibration.h.

#define ACC_FS_Y   262.15

Definition at line 14 of file calibration.h.

#define ACC_FS_Z   252.20

Definition at line 15 of file calibration.h.

#define ENC_FS   0.08789062

Definition at line 33 of file calibration.h.

#define ENC_MAX   4096

Definition at line 34 of file calibration.h.

#define FAILURE   -1

Definition at line 7 of file calibration.h.

#define GYR_BIAS_X   -60.8067

Definition at line 25 of file calibration.h.

#define GYR_BIAS_Y   40.0800

Definition at line 26 of file calibration.h.

#define GYR_BIAS_Z   0.7267

Definition at line 27 of file calibration.h.

#define GYR_FS_X   0.001214142

Definition at line 28 of file calibration.h.

#define GYR_FS_Y   0.001214142

Definition at line 29 of file calibration.h.

#define GYR_FS_Z   0.001214142

Definition at line 30 of file calibration.h.

#define MAG_BIAS_X   -143

Definition at line 17 of file calibration.h.

#define MAG_BIAS_Y   -101

Definition at line 18 of file calibration.h.

#define MAG_BIAS_Z   3

Definition at line 19 of file calibration.h.

#define MAG_FS_X   177

Definition at line 20 of file calibration.h.

#define MAG_FS_Y   139

Definition at line 21 of file calibration.h.

#define MAG_FS_Z   85

Definition at line 22 of file calibration.h.

#define SUCCESS   1

Definition at line 6 of file calibration.h.

Function Documentation

void calibrate_enc

(

ENC_DATA_STRUCT *

enc_data

)

Calibrate encoder to return values in the rage of 0 to 90.

Definition at line 33 of file calibration.c.

References ENC_DATA_STRUCT::calib, ENC_FS, ENC_MAX, ENC_DATA_STRUCT::position, and ENC_DATA_STRUCT::calibrate::position.

                                             {
  enc_data->calib.position = ((ENC_MAX - enc_data->position)/ENC_FS);
}