Diff: dataComm.cpp

Revision:

8:78435e587de1

Parent:

7:26d706d285c1

--- a/dataComm.cpp	Wed May 13 19:21:55 2015 +0000
+++ b/dataComm.cpp	Thu May 14 22:50:46 2015 +0000
@@ -66,15 +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) ((mm_gait_params.time_steps-MIN_STEPTIME)/(MAX_STEPTIME-MIN_STEPTIME)*100);
+        return (short) ((params_time_steps-MIN_STEPTIME)/(MAX_STEPTIME-MIN_STEPTIME)*100);
     } else if (var.compare("PhaseShift") == 0) {
-        return (short) ((mm_gait_params.peak_time-MIN_PHASESHIFT)/(MAX_PHASESHIFT-MIN_PHASESHIFT)*100);
+        return (short) ((params_peak_time-MIN_PHASESHIFT)/(MAX_PHASESHIFT-MIN_PHASESHIFT)*100);
     } else if (var.compare("WalkAngle") == 0) {
-        return (short) ((mm_gait_params.walking_angle-MIN_WALK)/(MAX_WALK-MIN_WALK)*100);
+        return (short) ((params_walking_angle-MIN_WALK)/(MAX_WALK-MIN_WALK)*100);
     } else if (var.compare("StepLength") == 0) {
-        return (short) ((mm_gait_params.end_angle-MIN_STEPLEN)/(MAX_STEPLEN-MIN_STEPLEN)*100);
+        return (short) ((params_end_angle-MIN_STEPLEN)/(MAX_STEPLEN-MIN_STEPLEN)*100);
     } else if (var.compare("HipFlex") == 0) {
-        return (short) ((mm_gait_params.max_angle-MIN_HIPFLEX)/(MAX_HIPFLEX-MIN_HIPFLEX)*100);
+        return (short) ((params_max_angle-MIN_HIPFLEX)/(MAX_HIPFLEX-MIN_HIPFLEX)*100);
     }
     return 0;
 
@@ -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);
+        params_time_steps = (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);
+        params_peak_time = (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);
+        params_walking_angle = (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);
+        params_end_angle = (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);
+        params_max_angle = (float)newval/100*(MAX_HIPFLEX-MIN_HIPFLEX);
     }
     //MORE else blocks for gait params