Diff: StateMachine/StateMachine.hpp

Revision:

99:9d0849f5fcd7

Parent:

97:2b4f78a54227

Child:

100:a21bb2e4493d

--- a/StateMachine/StateMachine.hpp	Mon May 20 18:57:23 2019 +0000
+++ b/StateMachine/StateMachine.hpp	Fri Jun 28 13:59:11 2019 +0000
@@ -47,6 +47,8 @@
     float timeout;
     float depth;
     float pitch;
+    float BMM_position;
+    float BCE_position;
 };
 //new struct for saving the leg data
 struct currentLegStruct {
@@ -56,6 +58,10 @@
     float min_depth;
     float max_depth;
     float heading;
+    float BCE_dive_offset;              //edit by CAM
+    float BMM_dive_offset;              //edit by CAM
+    float BCE_rise_offset;              //edit by CAM
+    float BMM_rise_offset;              //edit by CAM
 };
  
 class StateMachine {
@@ -200,6 +206,14 @@
     float _BCE_dive_offset;                         // NEW COMMANDS FOR POSITION CONTROLLER
     float _BMM_dive_offset;
     
+    float _leg_BCE_dive_offset;
+    float _leg_BMM_dive_offset;
+    float _leg_BCE_rise_offset;                        // edited by CAM
+    float _leg_BMM_rise_offset;                        // edited by CAM
+    float _leg_max_depth;
+    float _heading;
+    float _leg_min_depth;
+    
     float getFloatUserInput();
     
     //new