fs and ftg working. bent forward not working
Fork of dataComm by
Diff: dataComm.h
- Revision:
- 6:502959ea39e4
- Parent:
- 4:86d9e33652b6
- Child:
- 10:d245feb52be2
diff -r c95a0006ba68 -r 502959ea39e4 dataComm.h --- a/dataComm.h Wed May 06 17:13:38 2015 +0000 +++ b/dataComm.h Mon May 11 21:46:44 2015 +0000 @@ -8,6 +8,7 @@ /** * @file dataComm.h * @brief This header file describes dataComm, an object that receives and processes messages sent to the controlbed via SPI. +* shares many functions with BluetoothComm on the controlbed * @author Michael Ling * @date 2/4/2015 */ @@ -87,10 +88,14 @@ static const char WALK_IND = 0x1a; static const char STEPLEN_IND = 0x1b; static const char STEPTIME_IND = 0x1c; - static const char MAXAMP_IND = 0x1d; - static const char STANCESTART_IND = 0x1e; - static const char STANCEEND_IND = 0x1f; + static const char HIPFLEX_IND = 0x1d; + static const char PHASESHIFT_IND = 0x1e; + static const char MAXAMP_IND = 0x1f; + static const char STANCESTART_IND = 0x20; + static const char STANCEEND_IND = 0x21; + + //MIN and MAX values for the various parameters static const float MIN_STAND = -15; static const float MAX_STAND = 15; static const float MIN_SIT = 70; @@ -103,8 +108,19 @@ static const float MAX_SDASST = -.02; static const float MIN_SDTIME = 3.2; static const float MAX_SDTIME = 4.8; - static const float MIN_WALK = 4.8; - static const float MAX_WALK = 7.2; + static const float MIN_WALK = 0; + static const float MAX_WALK = 10; + static const float MIN_STEPTIME = 700; + static const float MAX_STEPTIME = 1300; + static const float MIN_STANDUPTIME = 0.5; + static const float MAX_STANDUPTIME = 1.5; + + static const float MIN_STEPLEN = -10; + static const float MAX_STEPLEN = 10; + static const float MIN_HIPFLEX = 20; + static const float MAX_HIPFLEX = 40; + static const float MIN_PHASESHIFT = 400; + static const float MAX_PHASESHIFT = 600; //Indicates a readonly request static const char READONLY_IND = 0x3f;