Diff: dataComm.h

Revision:

6:502959ea39e4

Parent:

4:86d9e33652b6

Child:

10:d245feb52be2

--- a/dataComm.h	Wed May 06 17:13:38 2015 +0000
+++ b/dataComm.h	Mon May 11 21:46:44 2015 +0000
@@ -8,6 +8,7 @@
 /**
 * @file dataComm.h
 * @brief This header file describes dataComm, an object that receives and processes messages sent to the controlbed via SPI.
+* shares many functions with BluetoothComm on the controlbed
 * @author Michael Ling
 * @date 2/4/2015
 */
@@ -87,10 +88,14 @@
     static const char WALK_IND = 0x1a;
     static const char STEPLEN_IND = 0x1b;
     static const char STEPTIME_IND = 0x1c;
-    static const char MAXAMP_IND = 0x1d;
-    static const char STANCESTART_IND = 0x1e;
-    static const char STANCEEND_IND = 0x1f;
+    static const char HIPFLEX_IND = 0x1d;
+    static const char PHASESHIFT_IND = 0x1e;
+    static const char MAXAMP_IND = 0x1f;
+    static const char STANCESTART_IND = 0x20;
+    static const char STANCEEND_IND = 0x21;
 
+
+    //MIN and MAX values for the various parameters
     static const float MIN_STAND = -15;
     static const float MAX_STAND = 15;
     static const float MIN_SIT = 70;
@@ -103,8 +108,19 @@
     static const float MAX_SDASST = -.02;
     static const float MIN_SDTIME = 3.2;
     static const float MAX_SDTIME = 4.8;
-    static const float MIN_WALK = 4.8;
-    static const float MAX_WALK = 7.2;
+    static const float MIN_WALK = 0;
+    static const float MAX_WALK = 10;
+    static const float MIN_STEPTIME = 700;
+    static const float MAX_STEPTIME = 1300;
+    static const float MIN_STANDUPTIME = 0.5;
+    static const float MAX_STANDUPTIME = 1.5;
+    
+    static const float MIN_STEPLEN = -10;
+    static const float MAX_STEPLEN = 10;
+    static const float MIN_HIPFLEX = 20;
+    static const float MAX_HIPFLEX = 40;
+    static const float MIN_PHASESHIFT = 400;
+    static const float MAX_PHASESHIFT = 600;
 
     //Indicates a readonly request
     static const char READONLY_IND = 0x3f;