fs and ftg working. bent forward not working
Fork of dataComm by
Diff: dataComm.cpp
- Revision:
- 1:ad39c297a768
- Parent:
- 0:f0dc2775ec68
- Child:
- 2:53547eb587fb
diff -r f0dc2775ec68 -r ad39c297a768 dataComm.cpp --- 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()); } }