Initial commit

abra cadabra

Author: anigokhale

ForceSensor_code/ForceSensor_code.ino

@@ -0,0 +1,98 @@
+#include <Arduino.h>
+
+float weightsA1 = 0.0084914244;
+float weightsA2 = -0.0182792591;
+float weightsA3 = 0.0115852731;
+float weightsA4 = 0.0051548949;
+const float TORQUE_CALIBRATION_SLOPE = 0.0108;
+const float TORQUE_CALIBRATION_OFFSET = -7.7948;
+
+float measurement1;
+float measurement2;
+float measurement3;
+float measurement4;
+float measurement5;
+
+int torqueSensor = A4;
+int thrustSensor1 = A0;
+int thrustSensor2 = A3;
+int thrustSensor3 = A1;
+int thrustSensor4 = A2;
+float temp1 = 0;
+float temp2 = 0;
+float temp3 = 0;
+float temp4 = 0;
+float temp5 = 0;
+
+float currentForce = 1e3;
+float forcenm1 = 1e6;
+float forcenm2;
+float currentAvg;
+float lastAvg;
+float forceConvergenceThreshold = 0.01;
+
+float currentTorque = 1e3;
+float torquenm1 = 1e6;
+float torquenm2;
+float currentTorqueAvg;
+float lastTorqueAvg;
+float torqueConvergenceThreshold = 0.01;
+
+float tareWeight = 0;
+float tareTorque = 0;
+
+void setup() {
+  // put your setup code here, to run once:
+  Serial.begin(115200);
+
+  pinMode(torqueSensor, INPUT);
+  pinMode(thrustSensor1, INPUT);
+  pinMode(thrustSensor2, INPUT);
+  pinMode(thrustSensor3, INPUT);
+  pinMode(thrustSensor4, INPUT);
+
+  tareWeight = getForce();
+  tareTorque = getTorque();
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  float force = getForce();
+  float torque = getTorque();
+
+  Serial.print(force, 3); Serial.print(","); Serial.println(torque, 3);
+  Serial.flush();
+  delay(10);
+}
+
+float getTorque() {
+  float force;
+  float moment_arm = 0.1158875;
+
+  force = analogRead(torqueSensor) * TORQUE_CALIBRATION_SLOPE - TORQUE_CALIBRATION_OFFSET;
+
+  return (force * moment_arm) - tareTorque;
+}
+
+float getForce() {
+  float mass;
+  for (int i = 0; i < 10; i++) {
+    measurement1 = analogRead(thrustSensor1) * weightsA1;
+    temp1 = temp1 + measurement1;
+
+    measurement2 = analogRead(thrustSensor2) * weightsA2;
+    temp2 = temp2 + measurement2;
+
+    measurement3 = analogRead(thrustSensor3) * weightsA3;
+    temp3 = temp3 + measurement3;
+
+    measurement4 = analogRead(thrustSensor4) * weightsA4;
+    temp4 = temp4 + measurement4;
+  }
+  temp1 = temp1 / 10;
+  temp2 = temp2 / 10;
+  temp3 = temp3 / 10;
+  temp4 = temp4 / 10;
+  mass = temp1 + temp2 + temp3 + temp4;
+  return (mass * 9.81) - tareWeight;
+}