palm and chin / BEAR_Protocol_Edited

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Dependencies:   Communication_Robot

Fork of BEAR_Protocol by BE@R lab

Diff: BEAR_Protocol.cpp

Revision:
13:45286c47ca0d
Parent:
12:6296cb35f853
--- a/BEAR_Protocol.cpp	Wed Jan 27 12:53:16 2016 +0000
+++ b/BEAR_Protocol.cpp	Thu Jan 28 15:23:15 2016 +0000
@@ -339,10 +339,10 @@
         float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatKi)/FLOAT_CONVERTER;
         *Ki=int_buffer+float_buffer;
 
-        IntKi[0]=package.parameter[8];
-        IntKi[1]=package.parameter[9];
-        FloatKi[0]=package.parameter[10];
-        FloatKi[1]=package.parameter[11];
+        IntKd[0]=package.parameter[8];
+        IntKd[1]=package.parameter[9];
+        FloatKd[0]=package.parameter[10];
+        FloatKd[1]=package.parameter[11];
         int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntKd);
         float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatKd)/FLOAT_CONVERTER;
         *Kd=int_buffer+float_buffer;
@@ -390,10 +390,10 @@
         float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatKi)/FLOAT_CONVERTER;
         *Ki=int_buffer+float_buffer;
 
-        IntKi[0]=package.parameter[8];
-        IntKi[1]=package.parameter[9];
-        FloatKi[0]=package.parameter[10];
-        FloatKi[1]=package.parameter[11];
+        IntKd[0]=package.parameter[8];
+        IntKd[1]=package.parameter[9];
+        FloatKd[0]=package.parameter[10];
+        FloatKd[1]=package.parameter[11];
         int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntKd);
         float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatKd)/FLOAT_CONVERTER;
         *Kd=int_buffer+float_buffer;