Nathaniel Honka / initExoVars

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Diff: initExoVars.h

Revision:
2:650a015179b9
Parent:
0:cd5ad8e47eb8
Child:
4:bd8994714003
--- a/initExoVars.h	Wed Jun 24 19:24:08 2015 +0000
+++ b/initExoVars.h	Thu Jun 25 22:56:53 2015 +0000
@@ -62,6 +62,10 @@
 extern struct MMgait_t mm_gait_params;
 extern MMSwing swing;
 extern MMStance stance;
+extern MMFSStance   fsStance;
+extern MMFSSwing fsSwing;
+extern MMFTG ftgSwing;
+extern MMFTG ftgStance;
 extern GaitGenerator mm_gait;
 
 
@@ -104,9 +108,15 @@
 extern const float Kp_freq;
 extern const float Kp_offset;
 extern float stand_adjust;
-extern const float zero_ang_L;
-extern const float zero_ang_R;
+extern float zero_enc_offset_L;
+extern float zero_end_offset_R;
+//extern const float zero_ang_L;
+//extern const float zero_ang_R;
+extern float zero_ang_L;
+extern float zero_ang_R;
+
 
 #endif
 
 extern void initializeExoIOs();
+void readCalib();
\ No newline at end of file