Revision 0:f73c80b36c20, committed 2016-01-22

Comitter:

icyzkungz

Date:

Fri Jan 22 07:46:51 2016 +0000

Child:

1:183e6088a1fa

Commit message:

First Public

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BEAR_Protocol.lib	Fri Jan 22 07:46:51 2016 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/teams/BEaR-lab/code/BEAR_Protocol/#2398eeafa967

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/InverseLeg.lib	Fri Jan 22 07:46:51 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/teams/BEaR-lab/code/InverseLeg/#d3bb9ead2a55

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/iSerial.lib	Fri Jan 22 07:46:51 2016 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/teams/BEaR-lab/code/iSerial/#1188a5024611

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Jan 22 07:46:51 2016 +0000
@@ -0,0 +1,668 @@
+#include "string"
+#include "BEAR_Protocol.h"
+#include "Kinematic.h"
+
+Serial pc(SERIAL_TX,SERIAL_RX);
+Bear_Communicate bcom(PA_15,PB_7,115200);
+
+DigitalIn button(USER_BUTTON);
+
+#define LEFT_SIDE 0x01
+#define RIGHT_SIDE 0x02
+
+void SwMode()
+{
+    int option; // user's entered option will be saved in this variable
+    float temp;
+    float LH,LK,RH,RK;
+    float LLink[2],RLink[2];
+    struct max_ang {
+        float Hip;
+        float Knee;
+    };
+    struct min_ang {
+        float Hip;
+        float Knee;
+    };
+    max_ang Lmax,Lmin;
+    min_ang Rmax,Rmin;
+    Lmax.Knee = Lmax.knee = Lmin.Knee = Lmin.knee = Rmax.Knee = Rmax.knee = Rmin.Knee = Rmin.knee = 0;
+    bool a,b,c,d;
+    a = b = c = d = false;
+    float temp_LH=0,temp_LK=0,temp_RH=0,temp_RK=0;
+    do { // do-while loop starts here.that display menu again and again until user select to exit program
+        // Displaying Options for the menu
+        pc.printf("************Don't Forget to Save Data************\n");
+        pc.printf("*\t1) Motor Left Hip \t\t\t*\n");
+        pc.printf("*\t2) Motor Left Knee \t\t\t*\n");
+        pc.printf("*\t3) Motor Right Hip \t\t\t*\n");
+        pc.printf("*\t4) Motor Right Knee \t\t\t*\n");
+        pc.printf("*\t5) Kp : Left Hip \t\t\t*\n");
+        pc.printf("*\t6) Ki : Left Hip \t\t\t*\n");
+        pc.printf("*\t7) Kd : Left Hip \t\t\t*\n");
+        pc.printf("*\t8) Save Left Hip(p,i,d) data\t\t*\n");
+        pc.printf("*\t9) Kp : Left Knee \t\t\t*\n");
+        pc.printf("*\t10) Ki : Left Knee \t\t\t*\n");
+        pc.printf("*\t11) Kd : Left Knee \t\t\t*\n");
+        pc.printf("*\t12) Save Left Knee(p,i,d) data\t\t*\n");
+        pc.printf("*\t13) Kp : Right Hip \t\t\t*\n");
+        pc.printf("*\t14) Ki : Right Hip \t\t\t*\n");
+        pc.printf("*\t15) Kd : Right Hip \t\t\t*\n");
+        pc.printf("*\t16) Save Right Hip(p,i,d) data\t\t*\n");
+        pc.printf("*\t17) Kp : Right Knee \t\t\t*\n");
+        pc.printf("*\t18) Ki : Right Knee \t\t\t*\n");
+        pc.printf("*\t19) Kd : Right Knee \t\t\t*\n");
+        pc.printf("*\t20) Save Right Knee data\t\t\t*\n");
+        pc.printf("*\t21) Set Left Hip Margin\n");
+        pc.printf("*\t22) Set Left Knee Margin\n");
+        pc.printf("*\t23) Set Right Hip Margin\n");
+        pc.printf("*\t24) Set Right Knee Margin\n");
+        /*pc.printf("*\t25) Set Lenght of Left Link Hip\n");
+        pc.printf("*\t26) Set Lenght of Left Link Knee\n");
+        pc.printf("*\t27) Set Lenght of Right Link Hip\n");
+        pc.printf("*\t28) Set Lenght of Right Link Knee\n");*/
+        pc.printf("*\t29) Set Offset\n");
+        pc.printf("*\t30) Set Body Lenght of Left Side\n");
+        pc.printf("*\t31) Set Body Lenght of Right Side\n");
+        pc.printf("*\t32) Set Maximum Hip Angle Range\n");
+        pc.printf("*\t33) Set Minimum Hip Angle Range\n");
+        pc.printf("*\t34) Set Maximum Knee Angle Range\n");
+        pc.printf("*\t35) Set Minimum Knee Angle Range\n");
+
+        pc.printf("*\t40) Exit Program \t\t\t*\n");
+        pc.printf("************Don't Forget to Save Data************\n");
+        // Prompting user to enter an option according to menu
+        pc.printf("Please select an option : ");
+
+        pc.scanf("%d",&option);
+
+        pc.printf("\n");
+
+        if(option == 1)// Left Hip
+            do {
+                pc.printf("\nType 9999 to Exit to Main Menu\n");
+                //Send Position to Motor
+                pc.printf("Input Degree : \n");
+                pc.scanf("%f",&temp);
+                if(temp!=9999) {
+                    LH = temp;
+                    pc.printf("Move Left Hip Motor to %f Degree\n",LH);
+
+                    bcom.setMotorPos(LEFT_SIDE,LH,temp_LK);
+                    temp_LH = LH;
+
+                    /********************Save Data*********************/
+                } else bcom.saveDataToEEPROM(LEFT_SIDE,MOTOR_UPPER_ANG);
+
+            } while(temp != 9999);
+
+        else if(option == 2) //Left Knee
+            do {
+                pc.printf("\nType 9999 to Exit to Main Menu\n");
+
+                //Send Position to Motor
+                pc.printf("Input Degree : \n");
+                pc.scanf("%f",&temp);
+                if(temp!=9999) {
+                    LK = temp;
+                    pc.printf("Move Left Knee Motor to %f Degree\n",LK);
+
+                    bcom.setMotorPos(LEFT_SIDE,temp_LH,LK);
+                    temp_LK = LK;
+
+
+                    /********************Save Data*********************/
+                } else bcom.saveDataToEEPROM(LEFT_SIDE,MOTOR_LOWER_ANG);
+
+            } while(temp != 9999);
+
+
+        else if(option == 3) { //Right Hip
+            do {
+                pc.printf("\nType 9999 to Exit to Main Menu\n");
+
+                //Send Position to Motor
+                pc.printf("Input Degree : \n");
+                pc.scanf("%f",&RH);
+                if(temp!=9999) {
+                    RH = temp;
+                    pc.printf("Move Right Hip Motor to %f Degree\n",RH);
+
+                    bcom.setMotorPos(RIGHT_SIDE,RH,temp_RK);
+                    temp_RH = RH;
+
+
+                    /********************Save Data*********************/
+                } else bcom.saveDataToEEPROM(RIGHT_SIDE,MOTOR_UPPER_ANG);
+
+            } while(temp != 9999);
+
+        } else if(option == 4) { //Right Knee
+            do {
+                pc.printf("\nType 9999 to Exit to Main Menu\n");
+
+                //Send Position to Motor
+                pc.printf("Input Degree : \n");
+                pc.scanf("%f",&temp);
+
+                if(temp != 9999) {
+                    RK = temp;
+                    pc.printf("Move Right Knee Motor to %f Degree\n",RK);
+
+                    bcom.setMotorPos(RIGHT_SIDE,temp_RH,RK);
+                    temp_RK = RK;
+
+
+                    /********************Save Data*********************/
+                } else bcom.saveDataToEEPROM(RIGHT_SIDE,MOTOR_LOWER_ANG);
+
+            } while(temp != 9999);
+
+        } else if(option == 5) { //Left Hip
+            do {
+                pc.printf("\nType 9999 to Exit to Main Menu\n");
+                pc.printf("\nInput Kp of Left Hip\n");
+                pc.scanf("%f",&temp);
+
+                if(temp != 9999) {
+                    pc.printf("\nChange Kp of Left Hip to %f",temp);
+
+                    bcom.setUpMotorKp(LEFT_SIDE,temp);
+                } else bcom.saveDataToEEPROM(LEFT_SIDE,KP_UPPER_MOTOR);
+
+            } while(temp != 9999);
+
+        } else if(option == 6) { //Left Hip
+            do {
+                pc.printf("\nType 9999 to Exit to Main Menu\n");
+                pc.printf("\nInput Ki of Left Hip\n");
+                pc.scanf("%f",&temp);
+
+                if(temp != 9999) {
+                    pc.printf("\nChange Ki of Left Hip to %f",temp);
+
+                    bcom.setUpMotorKi(LEFT_SIDE,temp);
+                } else bcom.saveDataToEEPROM(LEFT_SIDE,KI_UPPER_MOTOR);
+
+            } while(temp != 9999);
+
+        } else if(option == 7) { //Left Hip
+            do {
+                pc.printf("\nType 9999 to Exit to Main Menu\n");
+                pc.printf("\nInput Kd of Left Hip\n");
+                pc.scanf("%f",&temp);
+
+                if(temp != 9999) {
+                    pc.printf("\nChange Kd of Left Hip to %f",temp);
+
+                    bcom.setUpMotorKd(LEFT_SIDE,temp);
+                } else bcom.saveDataToEEPROM(LEFT_SIDE,KD_UPPER_MOTOR);
+
+            } while(temp != 9999);
+
+        } else if(option == 8) {
+            pc.printf("\nType 9999 to Exit to Main Menu\n");
+            /*******************************Save Left Hip data*************************************/
+
+        } else if(option == 9) { //Left Knee
+            do {
+                pc.printf("\nType 9999 to Exit to Main Menu\n");
+                pc.printf("\nInput Kp of Left Knee\n");
+                pc.scanf("%f",&temp);
+
+                if(temp != 9999) {
+                    pc.printf("\nChange Kp of Left Knee to %f",temp);
+
+                    bcom.setLowMotorKp(LEFT_SIDE,temp);
+                } else bcom.saveDataToEEPROM(LEFT_SIDE,KP_LOWER_MOTOR);
+
+            } while(temp != 9999);
+
+        } else if(option == 10) { //Left Knee
+            do {
+                pc.printf("\nType 9999 to Exit to Main Menu\n");
+                pc.printf("\nInput Ki of Left Knee\n");
+                pc.scanf("%f",&temp);
+
+                if(temp != 9999) {
+                    pc.printf("\nChange Ki of Left Knee to %f",temp);
+
+                    bcom.setLowMotorKi(LEFT_SIDE,temp);
+                } else bcom.saveDataToEEPROM(LEFT_SIDE,KI_LOWER_MOTOR);
+
+            } while(temp != 9999);
+
+        } else if(option == 11) { //Left Knee
+            do {
+                pc.printf("\nType 9999 to Exit to Main Menu\n");
+                pc.printf("\nInput Kd of Left Knee\n");
+                pc.scanf("%f",&temp);
+
+                if(temp != 9999) {
+                    pc.printf("\nChange Kd of Left Knee to %f",temp);
+
+                    bcom.setLowMotorKd(LEFT_SIDE,temp);
+                } else bcom.saveDataToEEPROM(LEFT_SIDE,KD_LOWER_MOTOR);
+
+            } while(temp != 9999);
+
+
+        } else if(option == 12) {
+            pc.printf("\nType 9999 to Exit to Main Menu\n");
+            /*******************************Save Left Knee data*************************************/
+
+
+        } else if(option == 13) { //Right Hip
+            do {
+                pc.printf("\nType 9999 to Exit to Main Menu\n");
+                pc.printf("\nInput Kp of Right Hip\n");
+                pc.scanf("%f",&temp);
+
+                if(temp != 9999) {
+                    pc.printf("\nChange Kp of Right Hip to %f",temp);
+
+                    bcom.setUpMotorKp(RIGHT_SIDE,temp);
+                } else bcom.saveDataToEEPROM(RIGHT_SIDE,KP_UPPER_MOTOR);
+
+            } while(temp != 9999);
+
+        } else if(option == 14) { //Right Hip
+            do {
+                pc.printf("\nType 9999 to Exit to Main Menu\n");
+                pc.printf("\nInput Ki of Right Hip\n");
+                pc.scanf("%f",&temp);
+
+                if(temp != 9999) {
+                    pc.printf("\nChange Ki of Right Hip to %f",temp);
+
+                    bcom.setUpMotorKi(RIGHT_SIDE,temp);
+                } else bcom.saveDataToEEPROM(RIGHT_SIDE,KI_UPPER_MOTOR);
+
+            } while(temp != 9999);
+
+        } else if(option == 15) { //Right Hip
+            do {
+                pc.printf("\nType 9999 to Exit to Main Menu\n");
+                pc.printf("\nInput Kd of Right Hip\n");
+                pc.scanf("%f",&temp);
+
+                if(temp != 9999) {
+                    pc.printf("\nChange Kd of Right Hip to %f",temp);
+
+                    bcom.setUpMotorKd(RIGHT_SIDE,temp);
+                } else bcom.saveDataToEEPROM(RIGHT_SIDE,KD_UPPER_MOTOR);
+
+            } while(temp != 9999);
+
+
+        } else if(option == 16) {
+            pc.printf("\nType 9999 to Exit to Main Menu\n");
+            /*******************************Save Right Hip data*************************************/
+
+
+        } else if(option == 17) { //Right Knee
+            do {
+                pc.printf("\nType 9999 to Exit to Main Menu\n");
+                pc.printf("\nInput Kp of Right Knee\n");
+                pc.scanf("%f",&temp);
+
+                if(temp != 9999) {
+                    pc.printf("\nChange Kp of Right Knee to %f",temp);
+
+                    bcom.setLowMotorKp(RIGHT_SIDE,temp);
+                } else bcom.saveDataToEEPROM(RIGHT_SIDE,KP_LOWER_MOTOR);
+
+            } while(temp != 9999);
+
+        } else if(option == 18) { //Right Knee
+            do {
+                pc.printf("\nType 9999 to Exit to Main Menu\n");
+                pc.printf("\nInput Ki of Right Knee\n");
+                pc.scanf("%f",&temp);
+
+                if(temp != 9999) {
+                    pc.printf("\nChange Ki of Right Knee to %f Degree\n",temp);
+
+                    bcom.setLowMotorKi(RIGHT_SIDE,temp);
+                } else bcom.saveDataToEEPROM(RIGHT_SIDE,KI_LOWER_MOTOR);
+
+            } while(temp != 9999);
+
+        } else if(option == 19) { //Right Knee
+            do {
+                pc.printf("\nType 9999 to Exit to Main Menu\n");
+                pc.printf("\nInput Kd of Right Knee\n");
+                pc.scanf("%f",&temp);
+
+                if(temp != 9999) {
+                    pc.printf("\nChange Kd of Right Knee to %f",temp);
+
+                    bcom.setLowMotorKd(RIGHT_SIDE,temp);
+                } else bcom.saveDataToEEPROM(RIGHT_SIDE,KD_LOWER_MOTOR);
+
+            } while(temp != 9999);
+
+        } else if(option == 20) {
+            pc.printf("\nType 9999 to Exit to Main Menu\n");
+            /*******************************Save Right Knee data*************************************/
+
+
+        } else if(option == 21) { //Left Hip Margin
+            pc.printf("\nType 9999 to Exit to Main Menu\n");
+            pc.printf("Input Margin\n");
+            pc.scanf("%f",&temp);
+
+            if(temp != 9999) {
+                pc.printf("\nChange Left Hip Margin to %f\n",temp);
+                bcom.setUpMargin(LEFT_SIDE,temp);
+            } else bcom.saveDataToEEPROM(LEFT_SIDE,UP_MARGIN);
+        }
+
+        else if(option == 22) { //Left Knee Margin
+            pc.printf("\nType 9999 to Exit to Main Menu\n");
+            pc.printf("Input Margin\n");
+            pc.scanf("%f",&temp);
+
+            if(temp != 9999) {
+                pc.printf("\nChange Left Knee Margin to %f\n",temp);
+                bcom.setLowMargin(LEFT_SIDE,temp);
+            } else bcom.saveDataToEEPROM(LEFT_SIDE,LOW_MARGIN);
+        }
+
+        else if(option == 23) { //Right Hip Margin
+            pc.printf("\nType 9999 to Exit to Main Menu\n");
+            pc.printf("Input Margin\n");
+            pc.scanf("%f",&temp);
+
+            if(temp != 9999) {
+                pc.printf("\nChange Right Hip Margin to %f\n",temp);
+                bcom.setUpMargin(RIGHT_SIDE,temp);
+            } else bcom.saveDataToEEPROM(RIGHT_SIDE,UP_MARGIN);
+        }
+
+        else if(option == 24) { //Right Knee Margin
+            pc.printf("\nType 9999 to Exit to Main Menu\n");
+            pc.printf("Input Margin\n");
+            pc.scanf("%f",&temp);
+
+            if(temp != 9999) {
+                pc.printf("\nChange Right Knee Margin to %f\n",temp);
+                bcom.setLowMargin(RIGHT_SIDE,temp);
+            } else bcom.saveDataToEEPROM(RIGHT_SIDE,LOW_MARGIN);
+        }
+
+        /*else if(option == 25) { //Lenght of Left Link Hip
+            pc.printf("\nType 9999 to Exit to Main Menu\n");
+            pc.printf("Input Lenght of Left Link Hip\n");
+            pc.scanf("%f",&temp);
+
+            if(temp != 9999) {
+                pc.printf("\nLenght of Left Link Hip = %f\n",temp);
+                LLink[0] = temp;
+                a = true;
+                bcom.setUpAngleRange(LEFT_SIDE,temp);
+            } else bcom.saveDataToEEPROM(LEFT_SIDE,UP_LINK_LENGTH);
+        }
+
+        else if(option == 26) { //Lenght of Left Link Knee
+            pc.printf("\nType 9999 to Exit to Main Menu\n");
+            pc.printf("Input Lenght of Left Link Knee\n");
+            pc.scanf("%f",&temp);
+
+            if(temp != 9999) {
+                pc.printf("\nLenght of Left Link Knee = %f\n",temp);
+                LLink[1] = temp;
+                b = true;
+                bcom.setLowAngleRange(LEFT_SIDE,temp);
+            } else bcom.saveDataToEEPROM(LEFT_SIDE,LOW_LINK_LENGTH);
+        }
+
+        else if(option == 27) { //Lenght of Right Link Hip
+            pc.printf("\nType 9999 to Exit to Main Menu\n");
+            pc.printf("Input Lenght of Right Link Hip\n");
+            pc.scanf("%f",&temp);
+
+            if(temp != 9999) {
+                pc.printf("\nLenght of Right Link Hip = %f\n",temp);
+                RLink[0] = temp;
+                c = true;
+                bcom.setUpAngleRange(RIGHT_SIDE,temp);
+            } else bcom.saveDataToEEPROM(RIGHT_SIDE,UP_LINK_LENGTH);
+        }
+
+        else if(option == 29) { //Lenght of Right Link Knee
+            pc.printf("\nType 9999 to Exit to Main Menu\n");
+            pc.printf("Input Lenght of Right Link Knee\n");
+            pc.scanf("%f",&temp);
+
+            if(temp != 9999) {
+                pc.printf("\nLenght of Right Link Knee = %f\n",temp);
+                RLink[1] = temp;
+                d = true;
+                bcom.setLowAngleRange(RIGHT_SIDE,temp);
+            } else bcom.saveDataToEEPROM(RIGHT_SIDE,LOW_LINK_LENGTH);
+        }*/
+
+        else if(option == 29) { //Offset
+            if(a == true && b == true && c == true && d == true) {
+                //float HipAngle[2],KneeAngle[2];
+                float LHipAngle,LKneeAngle;
+                float RHipAngle,RKneeAngle;
+                bcom.getMotorPos(LEFT_SIDE,&LHipAngle,&LKneeAngle);
+                bcom.getMotorPos(RIGHT_SIDE,&RHipAngle,&RKneeAngle);
+
+                Kinematic L( 'Z',  LLink[0],  LLink[1],  LHipAngle,  LKneeAngle);
+                Kinematic R( 'Z',  RLink[0],  RLink[1],  RHipAngle,  RKneeAngle);
+
+                L.ForwardKinematicCalculation();
+                R.ForwardKinematicCalculation();
+
+                float offset_Y,offset_Z;
+                offset_Y = L.get_Position_Y()-R.get_Position_Y();
+                offset_Z = L.get_Position_Z()-R.get_Position_Z();
+
+                bcom.setOffset(LEFT_SIDE,offset_Y,offset_Z);
+                bcom.saveDataToEEPROM(LEFT_SIDE,OFFSET);
+
+            } else pc.printf("\nYou have to do choice 25-28 first\n\n");
+        }
+
+        else if(option == 30) { //Body Lenght of Left Side
+            do {
+                pc.printf("\nType 9999 to Exit to Main Menu\n");
+                pc.printf("Input Body Lenght of Left Side\n");
+                pc.scanf("%f",&temp);
+
+                if(temp != 9999) {
+                    pc.printf("\nBody Lenght = %f\n",temp);
+                    bcom.setBodyLength(LEFT_SIDE,temp);
+                } else bcom.saveDataToEEPROM(LEFT_SIDE,BODY_LENGTH);
+
+            } while(temp!=9999);
+        }
+
+        else if(option == 31) { //Body Lenght of Right Side
+            do {
+                pc.printf("\nType 9999 to Exit to Main Menu\n");
+                pc.printf("Input Body Lenght of Right Side\n");
+                pc.scanf("%f",&temp);
+
+                if(temp != 9999) {
+                    pc.printf("\nBody Lenght = %f\n",temp);
+                    bcom.setBodyLength(RIGHT_SIDE,temp);
+                } else bcom.saveDataToEEPROM(RIGHT_SIDE,BODY_LENGTH);
+
+            } while(temp!=9999);
+        }
+
+        else if(option == 32) { //Set Maximum Hip Angle Range
+            do {
+                pc.printf("\nType 9999 to Exit to Main Menu\n");
+                pc.printf("1) Left Side\n");
+                pc.printf("2) Right Side\n");
+                pc.scanf("%f\n",&temp);
+
+                if(temp==1) { //Left
+                    pc.printf("Input Maximum Hip Angle Range of Left Side\n");
+                    pc.scanf("%f",&temp);
+
+                    if(temp != 9999) {
+                        pc.printf("\nMaximum Hip Angle Range of Left Side = %f\n",temp);
+                        bcom.setUpAngleRange(LEFT_SIDE,temp,Lmin.Hip);
+                        Lmax.Hip = temp;
+                    } else bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_UP);
+
+                } else if(temp==2) { //Right
+                    pc.printf("Input Maximum Hip Angle Range of Right Side\n");
+                    pc.scanf("%f",&temp);
+
+                    if(temp != 9999) {
+                        pc.printf("\nMaximum Hip Angle Range of Right Side = %f\n",temp);
+                        bcom.setUpAngleRange(RIGHT_SIDE,temp,Rmin.Hip);
+                        Rmax.Hip = temp;
+                    } else bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_UP);
+                }
+            } while(temp!=9999);
+        }
+
+        else if(option == 33) { //Set Minumum Hip Angle Range
+            do {
+                pc.printf("\nType 9999 to Exit to Main Menu\n");
+                pc.printf("1) Left Side\n");
+                pc.printf("2) Right Side\n");
+                pc.scanf("%f\n",&temp);
+
+                if(temp==1) { //Left
+                    pc.printf("Input Minumum Hip Angle Range of Left Side\n");
+                    pc.scanf("%f",&temp);
+
+                    if(temp != 9999) {
+                        pc.printf("\nMinumum Hip Angle Range of Left Side = %f\n",temp);
+                        bcom.setLowAngleRange(LEFT_SIDE,Lmax.Hip,temp);
+                        Lmin.Hip = temp;
+                    } else bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_UP);
+
+                } else if(temp==2) { //Right
+                    pc.printf("Input Minumum Hip Angle Range of Right Side\n");
+                    pc.scanf("%f",&temp);
+
+                    if(temp != 9999) {
+                        pc.printf("\nMinumum Hip Angle Range of Right Side = %f\n",temp);
+                        bcom.setLowAngleRange(RIGHT_SIDE,Rmax.Hip,temp);
+                        Rmin.Hip = temp;
+                    } else bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_UP);
+                }
+            } while(temp!=9999);
+        }
+
+
+        else if(option == 34) { //Set Maximum Knee Angle Range
+            do {
+                pc.printf("\nType 9999 to Exit to Main Menu\n");
+                pc.printf("1) Left Side\n");
+                pc.printf("2) Right Side\n");
+                pc.scanf("%f\n",&temp);
+
+                if(temp==1) { //Left
+                    pc.printf("Input Maximum Knee Angle Range of Left Side\n");
+                    pc.scanf("%f",&temp);
+
+                    if(temp != 9999) {
+                        pc.printf("\nMaximum Knee Angle Range of Left Side = %f\n",temp);
+                        bcom.setLowAngleRange(LEFT_SIDE,temp,Lmin.Knee);
+                        Lmax.Knee = temp;
+                    } else bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_LOW);
+
+                } else if(temp==2) { //Right
+                    pc.printf("Input Maximum Knee Angle Range of Right Side\n");
+                    pc.scanf("%f",&temp);
+
+                    if(temp != 9999) {
+                        pc.printf("\nMaximum Knee Angle Range of Right Side = %f\n",temp);
+                        bcom.setLowAngleRange(RIGHT_SIDE,temp,Rmin.Knee);
+                        Rmax.Knee = temp;
+                    } else bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_LOW);
+                }
+            } while(temp!=9999);
+        }
+
+        else if(option == 32) { //Set Minumum Knee Angle Range
+            do {
+                pc.printf("\nType 9999 to Exit to Main Menu\n");
+                pc.printf("1) Left Side\n");
+                pc.printf("2) Right Side\n");
+                pc.scanf("%f\n",&temp);
+
+                if(temp==1) { //Left
+                    pc.printf("Input Minumum Knee Angle Range of Left Side\n");
+                    pc.scanf("%f",&temp);
+
+                    if(temp != 9999) {
+                        pc.printf("\nMinumum Knee Angle Range of Left Side = %f\n",temp);
+                        bcom.setLowAngleRange(LEFT_SIDE,Lmax.Knee,temp);
+                        Lmin.Knee = temp;
+                    } else bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_LOW);
+
+                } else if(temp==2) { //Right
+                    pc.printf("Input Minumum Knee Angle Range of Right Side\n");
+                    pc.scanf("%f",&temp);
+
+                    if(temp != 9999) {
+                        pc.printf("\nMinumum Knee Angle Range of Right Side = %f\n",temp);
+                        bcom.setLowAngleRange(RIGHT_SIDE,Rmax.Knee,temp);
+                        Rmin.Knee = temp;
+                    } else bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_LOW);
+                }
+            } while(temp!=9999);
+        }
+
+
+
+
+
+
+        else if(option == 33) {
+            pc.printf("Are You Sure ?\n");
+            pc.printf("\n1) Yes\n");
+            pc.printf("2) No\n");
+
+            pc.scanf("%d",&option);
+            if(option==1) {
+                option = 23;
+                pc.printf("Please Push Button Restart\n");
+            } else pc.printf("Return to Main Menu\n");
+
+        }
+
+
+        else { // if user has entered invalid choice (other than 1,2,3 or 4)
+            // Displaying error message
+            pc.printf("Invalid Option entered\n");
+        }
+    } while(option != 40); // condition of do-while loop
+
+}
+
+int main()
+{
+    pc.baud(115200);
+
+    if(button==1)
+        SwMode();
+}
+
+/*int main()
+{
+    pc.baud(115200);
+    int num;
+    do {
+        //float num;
+        //Float number --> Working
+        pc.printf("Start\n");
+        pc.scanf("%d",&num);
+        pc.printf("temp : %d\n",num);
+        if( num == 15 )
+            pc.printf("Yes\n");
+        pc.printf("End\n");
+    } while(num!=20);
+}*/
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Fri Jan 22 07:46:51 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/9296ab0bfc11
\ No newline at end of file