Diff: dataComm.cpp

Revision:

6:502959ea39e4

Parent:

5:c95a0006ba68

Child:

7:26d706d285c1

--- a/dataComm.cpp	Wed May 06 17:13:38 2015 +0000
+++ b/dataComm.cpp	Mon May 11 21:46:44 2015 +0000
@@ -6,7 +6,8 @@
 #include <string>
 #include <map>
 
-dataComm::dataComm():  _len(0), _counter(0), _inMsg(false), _numVars(32), _numReadOnlyParams(12), _escapesNeeded(8)
+//Much code is shared with BluetoothComm class, on the control bed
+dataComm::dataComm():  _len(0), _counter(0), _inMsg(false), _numVars(34), _numReadOnlyParams(12), _escapesNeeded(8)
 {
     mbedLED1 = 1;
     int temp1[] = {0,1,2,3,4,8,9,10,-1};
@@ -19,7 +20,7 @@
     std::string temp2[] = {"KPStance", "KPSwing", "KPStanding", "KPSitting", "KPStandUp", "KPSitdown", "KDStance", "KDSwing",
         "KDStanding", "KDSitting", "KDStandUp", "KDSitDown", "StandingAngle", "SittingAngle", "BentForwardAngle", "ForwardAngle", "RearAngle",
         "IMUAngle", "KneeFullRetract", "KneeFullExtend", "LockTime", "Rate", "StandupAsst", "StandupTime", "SitdownAsst", "SitdownTime", "WalkAngle",
-        "StepLength", "StepTime", "MaxAmplitude", "StanceStart", "StanceEnd",
+        "StepLength", "StepTime", "HipFlex", "PhaseShift", "MaxAmplitude", "StanceStart", "StanceEnd",
         "TorsoAng", "LKneeAng", "RKneeAng", "LHipAng", "RHipAng", "LHipTorque", "RHipTorque", "ExoAndKneeStates", "TorsoRefAngle", "LHipRefAngle",
         "RHipRefAngle", "Charge"};
     //Populate the map of indices to param names
@@ -49,6 +50,7 @@
 */
 short dataComm::generic_get(std::string var)
 {
+    //Translate the raw value of the parameter to a short between 0-100
     if (var.compare("SittingAngle") == 0) {
         return (short)((sittingAngle-MIN_SIT)/(MAX_SIT-MIN_SIT)*100);
     } else if(var.compare( "BentForwardAngle")==0) {
@@ -64,7 +66,15 @@
     } else if (var.compare("WalkAngle")==0) {
         return (short)((fsm.get_backbias()-MIN_WALK)/(MAX_WALK-MIN_WALK)*100);
     } else if (var.compare("StepTime")==0) {
-        return (short) step_time;
+        return (short) ((MMgait.time_steps-MIN_STEPTIME)/(MAX_STEPTIME-MIN_STEPTIME)*100);
+    } else if (var.compare("PhaseShift") == 0) {
+        return (short) ((MMgait.peak_time-MIN_PHASESHIFT)/(MAX_PHASESHIFT-MIN_PHASESHIFT)*100);
+    } else if (var.compare("WalkAngle") == 0) {
+        return (short) ((MMgait.walking_angle-MIN_WALK)/(MAX_WALK-MIN_WALK)*100);
+    } else if (var.compare("StepLength") == 0) {
+        return (short) ((MMgait.end_angle-MIN_STEPLEN)/(MAX_STEPLEN-MIN_STEPLEN)*100);
+    } else if (var.compare("HipFlex") == 0) {
+        return (short) ((MMgait.max_angle-MIN_HIPFLEX)/(MAX_HIPFLEX-MIN_HIPFLEX)*100);
     }
     return 0;
 
@@ -80,8 +90,8 @@
 void dataComm::generic_set(std::string var, short newval)
 {
     mbedLED3 = 1;
-    //pc.printf("%s\r\n", var);
-    //newval is a short from 0-100, and needs to be converted a more
+    //newval is a short from 0-100, and needs to be converted to a raw value. 
+    //We do this by making a 100-point scale between MIN and MAX param values
     if (var.compare( "SittingAngle")==0) {
         sittingAngle = MIN_SIT + (float)newval/100*(MAX_SIT-MIN_SIT);
         //   pc.printf("%d\r\n", (short)((sittingAngle-70)/40*100));
@@ -108,7 +118,15 @@
         fsm.set_backbias(MIN_WALK+(float)newval/100*(MAX_WALK-MIN_WALK));
        // pc.printf("%d\r\n", (short)fsm.get_backbias());
     } else if (var.compare("StepTime")==0) {
-        step_time = (float)newval;
+        MMgait.time_steps = (float)newval/100*(MAX_STEPTIME-MIN_STEPTIME);
+    } else if (var.compare("PhaseShift") == 0) {
+        MMgait.peak_time = (float)newval/100*(MAX_PHASESHIFT-MIN_PHASESHIFT);
+    } else if (var.compare("WalkAngle") == 0) {
+        MMgait.walking_angle = (float)newval/100*(MAX_WALK-MIN_WALK);
+    } else if (var.compare("StepLength") == 0) {
+        MMgait.end_angle = (float)newval/100*(MAX_STEPLEN-MIN_STEPLEN);
+    } else if (var.compare("HipFlex") == 0) {
+        MMgait.max_angle = (float)newval/100*(MAX_HIPFLEX-MIN_HIPFLEX);
     }
     //MORE else blocks for gait params
 
@@ -175,6 +193,7 @@
     }
     //printf("got a start\r\n");
     //Unlike on databed, the message is not guaranteed to be exactly LEN long, hence we're allowed to backtrack looking for END
+    //Otherwise, the msg_check procedure is the same
     while (message[len-4] != END && len >= 6) {
         len -= 1;
     }