Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: FiniteStateMachine HipControl Knee LinearBlend1 LocalFileSystem_Read dataComm hapticFeedback initExoVars mbed Blend_Generator Brad_poly_gait Gait_Generator MM_gait Encoders IMUdriver
Fork of
Motion Control
by 
HEL's Angels
Diff: initExoVars/initExoVars.h
- Revision:
- 30:1ccef6a5ba50
- Parent:
- 29:fb369b8e2493
--- a/initExoVars/initExoVars.h Thu May 14 22:52:52 2015 +0000
+++ b/initExoVars/initExoVars.h Sat May 16 00:45:11 2015 +0000
@@ -8,9 +8,10 @@
#include "HipControl.h"
#include "knee.h"
#include "FSM.h"
+#include "MM_gait.h"
#include "dataComm.h"
-#include "MODSERIAL.h"
#define PI (3.141592653589793)
+#define my_delete(x) {delete x; x = NULL;}
//#define SAMPLE_TIME .01
#define SAMPLE_TIME .001
@@ -29,8 +30,7 @@
extern DigitalOut DB_cs;
extern SPI IMUspi;
extern DigitalOut IMUcs;
-//extern Serial pc;
-extern MODSERIAL pc;
+extern Serial pc;
// Setup stuff
// absolutes
@@ -59,10 +59,11 @@
extern FSM fsm;
-//extern bool swing_calculate(int time, float &value_, float start, float end, float blend_steps);
-//extern bool stance_calculate(int time, float &value_, float start, float end, float blend_steps);
-extern float swing_calculate(int time, float start, float end, float blend_steps);
-extern float stance_calculate(int time, float start, float end, float blend_steps);
+extern struct MMgait_t mm_gait_params;
+extern MMSwing swing;
+extern MMStance stance;
+extern GaitGenerator mm_gait;
+
/*******************************
* END OF I/O Initialization
@@ -106,12 +107,6 @@
extern const float zero_ang_L;
extern const float zero_ang_R;
-extern float params_time_steps;
-extern float params_peak_time;
-extern float params_walking_angle;
-extern float params_end_angle;
-extern float params_max_angle;
-
#endif
extern void initializeExoIOs();