ADDED second load-cell

lib/forecastnucleoframework/include/forecast/IHardware.hpp

@@ -83,6 +83,15 @@ class IHardware {
     app.fatal_error("Hardware setStartT() function not implemented");
   }
 
+  /**
+   * @brief   Set the experiment duration.
+   *
+   * @param  duration The experiment duration (seconds)
+   */
+  virtual inline void set_duration(float duration) {
+    app.fatal_error("Hardware set_duration() function not implemented");
+  }
+
   /**
    * @brief   Return the start time of the experiment.
    *
@@ -101,6 +110,15 @@ class IHardware {
     app.fatal_error("Hardware getStartT() function not implemented");
   }
 
+  /**
+   * @brief   Return the hw duration time.
+   *
+   * @return  duration_t
+   */
+  virtual inline float get_duration() const {
+    app.fatal_error("Hardware get_duration() function not implemented");
+  }
+
   /**
    * @brief   Return the torque applied by the motor (current feedback)
    *

lib/forecastnucleoframework/include/forecast/platforms/workbench/Hardware.hpp

@@ -43,13 +43,13 @@ class Hardware : public IHardware {
     logs["dtauS"] = &dtauS;
     logs["ddtauS"] = &ddtauS;
 
-    logs["tauSensor"] = &tauSensor;
-    logs["dtauSensor"] = &dtauSensor;
-    logs["ddtauSensor"] = &ddtauSensor;
+    logs["F"] = &tauSensor;
+    logs["dF"] = &dtauSensor;
+    logs["ddF"] = &ddtauSensor;
 
-    logs["thetaM"] = &thetaM;
-    logs["dthetaM"] = &dthetaM;
-    logs["ddthetaM"] = &ddthetaM;
+    logs["x"] = &thetaM;
+    logs["dx"] = &dthetaM;
+    logs["ddx"] = &ddthetaM;
 
     logs["thetaE"] = &thetaE;
     logs["dthetaE"] = &dthetaE;
@@ -110,6 +110,13 @@ class Hardware : public IHardware {
    */
   inline void set_start_time(float time) override { start_t = time; }
 
+  /**
+   * @brief   Set the experiment duration.
+   *
+   * @param  duration The experiment duration (seconds).
+   */
+  inline void set_duration(float duration) override { duration_t = duration; }
+
   /**
    * @brief   Return the start time of the experiment.
    *
@@ -124,7 +131,14 @@ class Hardware : public IHardware {
    */
   virtual inline float get_current_time() const override { return t - start_t; }
 
-  /**std::make_unique<control::Control>()
+  /**
+   * @brief   Return the hw duration time.
+   *
+   * @return  duration_t
+   */
+  virtual inline float get_duration() const override { return duration_t; }
+
+  /**
    * @brief   Return the torque applied by the motor (current feedback)
    *
    * @return  motorTorqueFeedback
@@ -296,11 +310,14 @@ class Hardware : public IHardware {
   EsconMotor *env_motor = nullptr;     ///< Motor used for the env. simulation
 
   AnalogInput *torque_sensor = nullptr; ///< Torque sensor
+  AnalogInput *load_cell2_sensor = nullptr; ///< Torque sensor 
 
   utility::AnalogFilter* lowPassTauSensor;
+  utility::AnalogFilter* lowPassLoacCell2;
 
   float t, dt, current_time;
   float start_t;
+  float duration_t;
 
   float tauM;
   float dtauM;

lib/forecastnucleoframework/include/forecast/platforms/workbench/config/escon_motor.h

@@ -13,7 +13,7 @@ namespace motorControl {
     constexpr float LINMOT_FORCE_MIN = -255.00;
     constexpr float KT = (LINMOT_FORCE_MAX - LINMOT_FORCE_MIN);
     constexpr float JM = 1.0000f;
-    constexpr float offset_bias = -0.015; // LinMot: 0.000 | Moog E024: 0.0042 | 0.000
+    constexpr float offset_bias = 0.00; // LinMot: 0.000 | Moog E024: -0.015
     constexpr float amp_scale = 1.00;
 #elif
     constexpr float MAX_CURR = 3.33f;

lib/forecastnucleoframework/src/App.cpp

@@ -566,6 +566,7 @@ bool App::exec_control_loop(unsigned long freq, float duration) {
 
   DEBUG_INFO("Executing the control loop at frequency %luHz\n", freq);
 
+  hw->set_duration(duration);
   hw->safety_off(); // putting the hardware in a ready state for the
                     // experiment
   size_t log_size = hw_logs.size();

lib/forecastnucleoframework/src/platforms/workbench/Hardware.cpp

@@ -34,6 +34,8 @@ forecast::Status forecast::Hardware::init() {
   if (not torqueSensorInit())
     return Status::TORQUE_SENSOR_INIT_ERR;
 
+  load_cell2_sensor = new AnalogInput(PC_1);
+
   lowPassTauSensor = utility::AnalogFilter::getLowPassFilterHz(2.0f);
   lowPassTauSensor->clean();
 
@@ -164,23 +166,32 @@ void forecast::Hardware::update(float dt) {
 
 
   float amplitude_voltage(1);
-  //float center_voltage(LOADCELL_250_OFFSET);
-  float center_voltage(LOADCELL_5K_OFFSET);
+  float center_voltage(LOADCELL_250_OFFSET);
+  //float center_voltage(LOADCELL_5K_OFFSET);
 
-  // Board voltage from USB: 3.324 V
+  // Read Load Cell 1
   float signed_voltage = torque_sensor->read_average_float() * 3.324f - center_voltage;
   if (signed_voltage >= 0.00f) {
     amplitude_voltage = 3.324 - center_voltage;
-    tauSensor = signed_voltage/amplitude_voltage * LOADCELL_5K_RANGE;
+    tauSensor = signed_voltage/amplitude_voltage * LOADCELL_250_RANGE;
   } else{
     amplitude_voltage = center_voltage - 0.00;
-    tauSensor = signed_voltage/amplitude_voltage * LOADCELL_5K_RANGE;
+    tauSensor = signed_voltage/amplitude_voltage * LOADCELL_250_RANGE;
   }
 
+// Read Load Cell 2
+  float lc2_signed_voltage = load_cell2_sensor->read_average_float() * 3.324f - 1.749;
+  if (lc2_signed_voltage >= 0.00f) {
+    amplitude_voltage = 3.324 -1.749;
+    tauS = lc2_signed_voltage/amplitude_voltage * LOADCELL_5K_RANGE;
+  } else{
+    amplitude_voltage = 1.749 - 0.00;
+    tauS = lc2_signed_voltage/amplitude_voltage * LOADCELL_5K_RANGE;
+  }
+  tauS = lowPassLoacCell2->process(-tauS, dt);
   float tauSensor_filt = lowPassTauSensor->process(tauSensor, dt);
-  tauSensor = tauSensor_filt + 11.0f; // Bias in Newton, hydraulic tests 2023-07-19
-
-
+  tauSensor = tauSensor_filt - 7.0f; // Bias in Newton, hydraulic tests 2023-07-19
+
   dtauSensor = (tauSensor - prev_tauSensor) / dt;
   ddtauSensor = (dtauSensor - prev_dtauSensor) / dt;
   prev_tauSensor = tauSensor;

lib/forecastnucleoframework/src/reference_generators/ConstantRefGen.cpp

@@ -5,5 +5,13 @@ forecast::ConstantRefGen::ConstantRefGen(std::vector<float> v) : values(std::mov
 }
 
 std::vector<float> forecast::ConstantRefGen::process(const IHardware* hw) {
-    return values;
-}
+    float time = hw->get_current_time();
+    float duration = hw->get_duration();
+
+if (time > 2.0f && time < (duration - 2)) {
+        return values;
+    } 
+    else {
+        return {0};
+    }
+}

lib/forecastnucleoframework/src/reference_generators/Sinusoid.cpp

@@ -5,6 +5,6 @@ forecast::SinusoidRefGen::SinusoidRefGen(float frequency, float amplitude) : fre
 }
 
 std::vector<float> forecast::SinusoidRefGen::process(const IHardware* hw) {
-    float output = (amplitude * (-1)* cos(2 * M_PI * frequency * hw->get_current_time() )) + amplitude;
+    float output = (amplitude * sin(2 * M_PI * frequency * hw->get_current_time() ));
     return {output};
 }

src/main.cpp

@@ -21,6 +21,7 @@
 #include <forecast/controllers/EnvRenderingControl.hpp>
 #include <forecast/controllers/AdmittanceControl.hpp>
 #include <forecast/controllers/ImpedanceControl.hpp>
+#include <forecast/controllers/Bypass.hpp>
 
 /** Refgen Headers */
 #include <forecast/reference_generators/ConstantRefGen.hpp>
@@ -64,9 +65,7 @@ int main()
     app.get_controller_factory().add("NoController", make_no_controller_builder());
     app.get_controller_factory().add("Admittance", make_admittance_control_builder());
     app.get_controller_factory().add("Impedance", make_impedance_control_builder());
-    //app.get_controller_factory().add("Bypass", make_Bypass_builder());
-
-    //app.get_operator_factory().add("Sum", make_sum_op_builder());
+    app.get_controller_factory().add("Bypass", make_Bypass_builder());
 
     DEBUG_INFO("finished with app\n");