Diff: gaitGenerator/gaitGenerator.cpp

Revision:

8:5766a09fefbf

Parent:

2:89b78367d173

Child:

9:9bbbd124bf50

--- a/gaitGenerator/gaitGenerator.cpp	Thu Feb 26 19:47:56 2015 +0000
+++ b/gaitGenerator/gaitGenerator.cpp	Wed Mar 04 02:43:44 2015 +0000
@@ -1,27 +1,63 @@
 #include "mbed.h"
 #include "gaitGenerator.h"
+
+/** Create sittingAngle instance
+* This parameter is adjusted to the individual pilot
+* sittingAngle is the angle of the hips(degrees) during normal sit
+*/
+const float sittingAngle=79;
+
+
+/** Create bentAngle instance
+* This parameter is adjusted to the individual pilot
+* bentAngle is the angle of the hips (degrees) during bent forward sit
+* Pilot must bend forward as an intermediate stage between sit and stand
+*/
+const float bentAngle=115;
+
+/** Create standingAngle instance
+* This parameter is adjusted to the individual pilot
+* TODO(Cashdollar): Define use case for this parameter.
+This parameter is adjusted to the individual pilot
+*/
+//const int FTG_time=sizeof(ref_stance_FTG)/sizeof(ref_stance_FTG[0]);
+//const float standingAngle=ref_stance_FTG[FTG_time-1];
+
 // timing variables:
 // gait generation times
-const float tStandingUp = 3;
+
+/** UNUSED??
+*/
+//const float tStandingUp = 3;
+
+/** Create tSittingDown instance
+* Used in FSM state() sitting down
+//TODO(Cashdollar): Is this something that needs to be parameterized?
+*/
 const float tSittingDown = 4;
-const float tFirstStep = 1;
-const float tStep = 0.9;//1.0;//1.2;
-const float tNextStep=1;
-const float tStepMod=1;
-const float tFeetTogether = .5;
+
+/** Create blend_L instance
+* TODO(Cashdollar): Is this used properly? blend_R is also an instance of the LinearBlend class and is defined in FSM.h
+*/
+float blend_R;
+float blend_L;
+
+//const float tFirstStep = 1;
+//const float tStep = 0.9;//1.0;//1.2;
+//const float tNextStep=1;
+//const float tStepMod=1;
+//const float tFeetTogether = .5;
 
 // blending times:
-const float t_blend_home2bent = 2;
-const float t_blend_home2stand = 3;
-const float t_blend_home2sit = 2;
-const float t_blend_step = .1;
-const float t_blend_FS = .1;
-const float t_blend_FTG = .1;
-const float t_blend_standUp = .5;
-const float t_blend_sitDown = .5;
-const float backBias=0;
-
-
+//const float t_blend_home2bent = 2;
+//const float t_blend_home2stand = 3;
+//const float t_blend_home2sit = 2;
+//const float t_blend_step = .1;
+//const float t_blend_FS = .1;
+//const float t_blend_FTG = .1;
+//const float t_blend_standUp = .5;
+//const float t_blend_sitDown = .5;
+//const float backBias=0;
 
 const float ref_stance_step[] = {
     10.0000,  9.9644,  9.9288,  9.8932,  9.8576,  9.8220,  9.7864,  9.7508,  9.7152,  9.6796,
@@ -1281,18 +1317,30 @@
     79.0000, 79.0000, 79.0000, 79.0000, 79.0000, 79.0000, 79.0000, 79.0000, 79.0000, 79.0000,
     79.0000, 79.0000, 79.0000, 79.0000, 79.0000, 79.0000, 79.0000, 79.0000, 79.0000, 79.0000
 };
-const int step_time=sizeof(ref_stance_step)/sizeof(ref_stance_step[0]);
+// Unused?
+//const int step_time=sizeof(ref_stance_step)/sizeof(ref_stance_step[0]);
+
+//TODO(Cashdollar): Would like to move this to the top of the file but needs to be down here
 const int FTG_time=sizeof(ref_stance_FTG)/sizeof(ref_stance_FTG[0]);
+// Used in FSM as an input to blend
 const float standingAngle=ref_stance_FTG[FTG_time-1];
-const float sittingAngle=79;
-const float bentAngle=115;
 
-int trajectoryLength = 51;
+//Moved to top:
+//const float sittingAngle=79;
+//const float bentAngle=115;
+// end moved to top
+
+// unused
+//int trajectoryLength = 51;
 
 // blending variables
 //float pos_R0;
 //float pos_L0;
-float blend_e0_R;
-float blend_e0_L;
-float blend_R;
-float blend_L;
+// UNUSED?
+//float blend_e0_R;
+// UNUSED?
+//float blend_e0_L;
+
+// Moved to top:
+//float blend_R;
+//float blend_L;