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
gaitGenerator.h
00001 #ifndef GEN_H 00002 #define GEN_H 00003 00004 #include "mbed.h" 00005 00006 extern const float ref_stance_step[]; 00007 extern const float ref_stance_step095[]; 00008 extern const float ref_stance_step100[]; 00009 extern const float ref_stance_step105[]; 00010 extern const float ref_stance_step110[]; 00011 extern const float ref_stance_step115[]; 00012 extern const float ref_stance_step120[]; 00013 extern const float ref_stance_step125[]; 00014 extern const float ref_stance_step130[]; 00015 00016 extern const float ref_swing_step[]; 00017 extern const float ref_swing_step095[]; 00018 extern const float ref_swing_step100[]; 00019 extern const float ref_swing_step105[]; 00020 extern const float ref_swing_step110[]; 00021 extern const float ref_swing_step115[]; 00022 extern const float ref_swing_step120[]; 00023 extern const float ref_swing_step125[]; 00024 extern const float ref_swing_step130[]; 00025 00026 extern const float ref_stance_FTG[]; 00027 extern const float ref_swing_FTG[]; 00028 extern const float ref_stance_FS[]; 00029 extern const float ref_swing_FS[]; 00030 extern const float ref_sit2stand[]; 00031 extern const float ref_stand2sit[]; 00032 extern const float standingAngle; //angle of the exo when standing 00033 extern float sittingAngle; //angle of the exo when seated 00034 00035 00036 extern const float tStandingUp; 00037 extern float tSittingDown; 00038 extern const float tFirstStep; 00039 extern const float tStep; 00040 extern const float tNextStep; 00041 extern const float tStepMod; 00042 extern const float tFeetTogether; 00043 extern const float tLockKneeFirstStep; 00044 extern const float tLockKneeStep; 00045 00046 extern int step_time; 00047 00048 // blending functions 00049 extern const float t_blend_home2bent; 00050 extern const float t_blend_home2stand; 00051 extern const float t_blend_home2sit; 00052 extern const float t_blend_step; 00053 extern const float t_blend_FS; 00054 extern const float t_blend_FTG; 00055 extern const float t_blend_standUp; 00056 extern const float t_blend_sitDown; 00057 00058 extern float bentAngle; //angle of the exo when bent forward 00059 extern float blend_e0_R; 00060 extern float blend_e0_L; 00061 extern float blend_R; 00062 extern float blend_L; 00063 00064 extern void initialize_GaitTrajectories(); 00065 00066 extern void initialize_blend(float posRef_L0, float posRef_R0, float t_blend); 00067 extern void initialize_blend_from_reference(float posRef_L0, float posRef_R0, float t_blend); 00068 00069 extern void blendToTarget(float t, float t_blend, float posRefTarget_L, float posRefTarget_R); 00070 00071 //extern void blendToBent(float t,float t_blend); 00072 00073 //extern void blendToStand(float t,float t_blend); 00074 00075 //extern void blendToSit(float t,float t_blend); 00076 00077 extern void gaitGen(float *ref_L,float *ref_R,float t,float t_max, float t_blend); 00078 00079 extern void linear_gaitGen(float target_R,float target_L,float t,float t_max); 00080 00081 #endif
Generated on Wed Jul 13 2022 19:10:15 by
1.7.2