Diff: initExoVars.cpp

Revision:

8:ae167702ebcc

Parent:

7:bbcbecee4183

Child:

9:6cf157a6d58b

--- a/initExoVars.cpp	Sat Jun 27 21:44:44 2015 +0000
+++ b/initExoVars.cpp	Sun Jun 28 02:09:49 2015 +0000
@@ -62,6 +62,8 @@
 const float Kp_StandUp      = .01;
 const float Kp_SitDown      = .01;
 const float Kp_Seated      = .01;
+float Kd_Swing=0.002;
+float Kd_Stance=0.002;
 
 const float Kp=.04;
 const float Kp0=.001;
@@ -98,15 +100,15 @@
 
 //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;
+//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;
+//float zero_enc_offset_R = -135.17;
+//float bob_dole=-135.17;
 
 
 //Offset for Test Rig