Diff: dataComm.cpp

Revision:

1:ad39c297a768

Parent:

0:f0dc2775ec68

Child:

2:53547eb587fb

--- a/dataComm.cpp	Fri Mar 20 20:25:34 2015 +0000
+++ b/dataComm.cpp	Fri Mar 20 23:08:01 2015 +0000
@@ -57,19 +57,19 @@
 {
    // switch (var) {
          if (var.compare("SittingAngle") == 0){
-             return (short)sittingAngle;
+             return (short)((sittingAngle-MIN_SIT)/(MAX_SIT-MIN_SIT)*100);
          }else if(var.compare( "BentForwardAngle")==0){
-             return (short)bentAngle;
-        /* } else if (var.compare("StandupAsst")==0){
-             return (short)fsm.get_standup_asst();
+             return (short)((bentAngle-MIN_BENT)/(MAX_BENT-MIN_BENT)*100);
+         } else if (var.compare("StandupAsst")==0){
+             return (short)((fsm.get_standup_asst()-MIN_SUASST)/(MAX_SUASST-MIN_SUASST)*100);
          } else if (var.compare("SitdownAsst")==0) {
-             return (short)fsm.get_sitdown_asst();
+             return (short)((fsm.get_sitdown_asst()-MIN_SDASST)/(MAX_SDASST-MIN_SDASST)*100);
          } else if (var.compare("SitdownTime")==0){
-             return (short)tSittingDown;
+             return (short)((tSittingDown-MIN_SDTIME)/(MAX_SDTIME-MIN_SDTIME)*100);
          } else if (var.compare( "StandingAngle")==0){
-             return (short)stand_adjust;
+             return (short)((stand_adjust-MIN_STAND)/(MAX_STAND-MIN_STAND)*100);
           } else if (var.compare("WalkAngle")==0){
-             return (short)fsm.get_backbias();*/
+             return (short)((fsm.get_backbias()-MIN_WALK)/(MAX_WALK-MIN_WALK)*100);
           }
       //   default:
              return 0;
@@ -80,20 +80,27 @@
 {
         mbedLED3 = 1;
         if (var.compare( "SittingAngle")==0){
-     //       sittingAngle = (float)newval;
+            sittingAngle = MIN_SIT + (float)newval/100*(MAX_SIT-MIN_SIT);
+         //   pc.printf("%d\r\n", (short)((sittingAngle-70)/40*100));
         } else if (var.compare( "BentForwardAngle")==0){
             motorLED = 1;
-            //bentAngle = (float)newval;
+            bentAngle = MIN_BENT+(float)newval/100*(MAX_BENT-MIN_BENT);
+           // pc.printf("%d\r\n", (short)((bentAngle-90)/50*100));
         } else if (var.compare("StandupAsst")==0) {
-       //     fsm.set_standup_asst((float)newval);
+            fsm.set_standup_asst(MIN_SUASST+(float)newval/100*(MAX_SUASST-MIN_SUASST));
+          //  pc.printf("%d\r\n", (short)fsm.get_standup_asst());
         } else if (var.compare("SitdownAsst")==0) {
-       //     fsm.set_sitdown_asst((float)newval);
+            fsm.set_sitdown_asst(MIN_SDASST+(float)newval/100*(MAX_SDASST-MIN_SDASST));
+          //  pc.printf("%d\r\n", (short)fsm.get_sitdown_asst());
         } else if (var.compare("SitdownTime")==0) {
-         //   tSittingDown = (float)newval;
+            tSittingDown = MIN_SDTIME + (float)newval/100*(MAX_SDTIME-MIN_SDTIME);
+           // pc.printf("%d\r\n", (short)tSittingDown);
         } else if (var.compare("StandingAngle")==0) {
-         //   stand_adjust = float(newval);
+            stand_adjust = MIN_STAND + float(newval)/100*(MAX_STAND-MIN_STAND);
+            //pc.printf("%d\r\n", (short)((stand_adjust+15)/30*100));
          } else if (var.compare("WalkAngle")==0) {
-         //   fsm.set_backbias((float)newval);
+            fsm.set_backbias(MIN_WALK+(float)newval/100*(MAX_WALK-MIN_WALK));
+           // pc.printf("%d\r\n", (short)fsm.get_backbias());
         }
         
 }