Diff: dataComm.h

Revision:

4:86d9e33652b6

Parent:

3:2091104c9b61

Child:

6:502959ea39e4

--- a/dataComm.h	Fri Apr 24 19:34:49 2015 +0000
+++ b/dataComm.h	Mon Apr 27 21:57:35 2015 +0000
@@ -20,19 +20,18 @@
     bool parity(short c);
     char* get_checksum(char* b, int len);
     void set_values(std::map<string, short> newValues);
-    
+
 
     void send_values(char* paramList);
     void send_read_only_values();
     bool msg_check(char* msg, int len);
     void process_write(short int *message, int len);
-    char *convert_to_char_array(short int *message, int len);
     int main();
     short generic_get(string var);
     void generic_set(string var, short newval);
-    
+
 private:
-  
+
     //Map containing values of Exo parameters
     std::map<std::string, short> _paramMap;
     //Maps parameter indices to param names
@@ -55,7 +54,7 @@
     int _counter;
     bool _inMsg;
     int _data;
-    
+
     //START/END bytes, parameter indices
     static const char START = 0xff;
     static const char END = 0xfe;
@@ -88,10 +87,10 @@
     static const char WALK_IND = 0x1a;
     static const char STEPLEN_IND = 0x1b;
     static const char STEPTIME_IND = 0x1c;
-    static const char FLEXION_IND = 0x1d;
-    static const char SHIFT_IND = 0x1e;
-    static const char WALKSPEED_IND = 0x1f;
-    
+    static const char MAXAMP_IND = 0x1d;
+    static const char STANCESTART_IND = 0x1e;
+    static const char STANCEEND_IND = 0x1f;
+
     static const float MIN_STAND = -15;
     static const float MAX_STAND = 15;
     static const float MIN_SIT = 70;
@@ -106,10 +105,10 @@
     static const float MAX_SDTIME = 4.8;
     static const float MIN_WALK = 4.8;
     static const float MAX_WALK = 7.2;
-    
+
     //Indicates a readonly request
     static const char READONLY_IND = 0x3f;
-    
+
     //Error codes
     static const char START_ERR = 1;
     static const char END_ERR = 2;
@@ -118,6 +117,6 @@
     static const char VAR_ERR = 5;
     static const char DATA_ERR =  6;
     static const char RW_ERR = 7;
-    
+  
 };
 #endif