Nathaniel Honka / Mbed 2 deprecated Motion-Control

Corrected header file include guards.

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: gaitGenerator/gaitGenerator.cpp

Revision:
19:70b2124c7370
Parent:
18:03d7c5fdc0c7
Child:
23:e0923403be2f
--- a/gaitGenerator/gaitGenerator.cpp	Fri Mar 20 20:27:08 2015 +0000
+++ b/gaitGenerator/gaitGenerator.cpp	Fri Mar 20 23:09:02 2015 +0000
@@ -3,7 +3,7 @@
 // timing variables:
 // gait generation times
 const float tStandingUp = 3;
-const float tSittingDown = 4;
+
 const float tFirstStep = 1;
 const float tStep = 0.9;//1.0;//1.2;
 const float tNextStep=1;
@@ -1284,10 +1284,12 @@
 const int step_time=sizeof(ref_stance_step)/sizeof(ref_stance_step[0]);
 const int FTG_time=sizeof(ref_stance_FTG)/sizeof(ref_stance_FTG[0]);
 const float standingAngle=ref_stance_FTG[FTG_time-1];
-const float sittingAngle=79;
-const float bentAngle=115;
+float sittingAngle = 79; //default 79
+float tSittingDown = 4 ; //default 4
 
 int trajectoryLength = 51;
+float bentAngle = 115; //default 115
+//bentAngle = 115;
 
 // blending variables
 //float pos_R0;