Diff: initExoVars.cpp

Revision:

11:7b7d30293fb7

Parent:

10:29955bf36492

Child:

12:3a5a9bbf1c93

--- a/initExoVars.cpp	Mon Jun 29 23:58:12 2015 +0000
+++ b/initExoVars.cpp	Tue Jun 30 04:44:30 2015 +0000
@@ -4,6 +4,8 @@
 #include "HipControl.h"
 #include "knee.h"
 #include "FSM.h"
+#include "localRead.h"
+
 //#include "MM_gait.h"
 //#include "constants.h"
 
@@ -100,15 +102,20 @@
 
 //zero_enc_offset_X is the offset for a particular encoder. Must be tuned for an individual encoder based on assembly.
 // Offsets for Exo #1. These are related to individual encoder and should never be changed.
-float zero_enc_offset_L = 223.83;
+//float zero_enc_offset_L = 223.83;
 // zero_enc_offset_R should be negative
-float zero_enc_offset_R = -176.4;
-float bob_dole=-176.4;
+//float zero_enc_offset_R = -176.4;
+//float bob_dole=-176.4;
 // Offsets for Test Rig
 //float zero_enc_offset_L = 205.24;
 // zero_enc_offset_R should be negative
 //float zero_enc_offset_R = -135.17;
 //float bob_dole=-135.17;
+//extern float 
+float zero_enc_offset_L=EncOffset_L;
+//extern float 
+//float zero_enc_offset_Right=EncOffset_R;
+float bob_dole=EncOffset_R;
 
 
 //Offset for Test Rig
@@ -159,12 +166,14 @@
 
 void initializeExoIOs()
 {
-    pc.printf("\r\n entered initexoios");
     // Putting various comm pins high
     DB_cs = 1; // Setting SPI CS pin high (so low selects the slave)
     //pc.baud(921600);
     //pc.baud(921600);
     //readCalib();
+    localRead();
+    pc.printf("I read the local file!");
+    pc.printf("\r\nNew left offset:%f, New left offset:%f", zero_enc_offset_L, zero_enc_offset_R);
     zero_ang_L=zero_enc_offset_L+stand_adjust;
     zero_ang_R=zero_enc_offset_R+stand_adjust;
     pc.printf("\r\nzero ang assigned");
@@ -173,7 +182,6 @@
     knee_L.init();
     knee_R.init();
     //Setting pwm frequencies to 20kHz
-    pc.printf("\r\n knees init");
 
     hip_L.off();
     hip_R.off();