ykcheungab
23 lines
812 B
Python
23 lines
812 B
Python
"""Force calibration coefficients and plot defaults from Orisys viewer2d."""
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from __future__ import annotations
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# Linear FN → Newtons (y = mx + c), from orisys examples/gui/sensors/adapter.py.
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NORMAL_FORCE_CAL_SLOPE = 3.92685554668795e-05
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NORMAL_FORCE_CAL_OFFSET = 0.0217596967278535
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# PyQtGraph force-curve tuning from examples/gui/viewer2d/backend.py.
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FORCE_SAMPLE_RATE_HZ = 30.0
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PLOT_BUFFER_POINTS = 120
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PLOT_WINDOW_SEC = PLOT_BUFFER_POINTS / FORCE_SAMPLE_RATE_HZ
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Y_AXIS_MIN_SPAN = 20000.0
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CALIBRATED_FORCE_Y_MIN = -20.0
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CALIBRATED_FORCE_Y_MAX = 20.0
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Y_RANGE_ALPHA = 0.5
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LOWPASS_CUTOFF_HZ = 10.0
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def calibrate_normal_force(raw_value: float) -> float:
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"""Convert raw normal-force reading to Newtons using y = mx + c."""
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return NORMAL_FORCE_CAL_SLOPE * float(raw_value) + NORMAL_FORCE_CAL_OFFSET
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