fs and ftg working. bent forward not working
Fork of dataComm by
Diff: dataComm.cpp
- Revision:
- 3:2091104c9b61
- Parent:
- 2:53547eb587fb
- Child:
- 4:86d9e33652b6
diff -r 53547eb587fb -r 2091104c9b61 dataComm.cpp --- a/dataComm.cpp Mon Apr 13 17:43:34 2015 +0000 +++ b/dataComm.cpp Fri Apr 24 19:34:49 2015 +0000 @@ -6,7 +6,7 @@ #include <string> #include <map> -dataComm::dataComm(): _len(0), _counter(0), _inMsg(false), _numVars(27), _numReadOnlyParams(12), _escapesNeeded(8) +dataComm::dataComm(): _len(0), _counter(0), _inMsg(false), _numVars(32), _numReadOnlyParams(12), _escapesNeeded(8) { @@ -19,7 +19,8 @@ std::string temp2[] = {"KPStance", "KPSwing", "KPStanding", "KPSitting", "KPStandUp", "KPSitdown", "KDStance", "KDSwing", "KDStanding", "KDSitting", "KDStandUp", "KDSitDown", "StandingAngle", "SittingAngle", "BentForwardAngle", "ForwardAngle", "RearAngle", - "IMUAngle", "KneeFullRetract", "KneeFullExtend", "LockTime", "Rate", "StandupAsst", "StandupTime", "SitdownAsst", "SitdownTime", "WalkAngle", + "IMUAngle", "KneeFullRetract", "KneeFullExtend", "LockTime", "Rate", "StandupAsst", "StandupTime", "SitdownAsst", "SitdownTime", "WalkAngle", + "StepLength", "StepTime", "PeakFlexion", "PhaseShift", "WalkSpeed", "TorsoAng", "LKneeAng", "RKneeAng", "LHipAng", "RHipAng", "LHipTorque", "RHipTorque", "ExoAndKneeStates", "TorsoRefAngle", "LHipRefAngle", "RHipRefAngle", "Charge"}; //Populate the map of indices to param names @@ -80,7 +81,7 @@ void dataComm::generic_set(std::string var, short newval) { mbedLED3 = 1; - pc.printf("%s\r\n", var); + //pc.printf("%s\r\n", var); //newval is a short from 0-100, and needs to be converted a more if (var.compare( "SittingAngle")==0){ sittingAngle = MIN_SIT + (float)newval/100*(MAX_SIT-MIN_SIT);