Diff: dataComm.cpp

Revision:

9:7486fb079085

Parent:

7:26d706d285c1

Child:

10:d245feb52be2

--- a/dataComm.cpp	Wed May 13 19:21:55 2015 +0000
+++ b/dataComm.cpp	Sat May 16 00:43:53 2015 +0000
@@ -118,15 +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) {
-        mm_gait_params.time_steps = (float)newval/100*(MAX_STEPTIME-MIN_STEPTIME);
+        mm_gait_params.time_steps = MIN_STEPTIME+(float)newval/100*(MAX_STEPTIME-MIN_STEPTIME);
     } else if (var.compare("PhaseShift") == 0) {
-        mm_gait_params.peak_time = (float)newval/100*(MAX_PHASESHIFT-MIN_PHASESHIFT);
+        mm_gait_params.peak_time = MIN_PHASESHIFT+(float)newval/100*(MAX_PHASESHIFT-MIN_PHASESHIFT);
     } else if (var.compare("WalkAngle") == 0) {
-        mm_gait_params.walking_angle = (float)newval/100*(MAX_WALK-MIN_WALK);
+        mm_gait_params.walking_angle = MIN_WALK+(float)newval/100*(MAX_WALK-MIN_WALK);
     } else if (var.compare("StepLength") == 0) {
-        mm_gait_params.end_angle = (float)newval/100*(MAX_STEPLEN-MIN_STEPLEN);
+        mm_gait_params.end_angle = MIN_STEPLEN+(float)newval/100*(MAX_STEPLEN-MIN_STEPLEN);
     } else if (var.compare("HipFlex") == 0) {
-        mm_gait_params.max_angle = (float)newval/100*(MAX_HIPFLEX-MIN_HIPFLEX);
+        mm_gait_params.max_angle = MIN_HIPFLEX+(float)newval/100*(MAX_HIPFLEX-MIN_HIPFLEX);
     }
     //MORE else blocks for gait params