Diff: initExoVars.cpp

Revision:

5:fcd299262d0a

Parent:

4:bd8994714003

Child:

6:87ad618621a4

--- a/initExoVars.cpp	Fri Jun 26 17:00:42 2015 +0000
+++ b/initExoVars.cpp	Fri Jun 26 21:32:32 2015 +0000
@@ -55,8 +55,8 @@
 //Control Variables
 // Control variables
 // Gain Scheduling!
-const float Kp_Swing        = .02;
-const float Kp_Stance       = .02;
+float Kp_Swing        = .02;
+float Kp_Stance       = .02;
 const float Kp_DoubleStance = .02;//.01;
 const float Kp_Standing     = .02;//.01; //0.0025
 const float Kp_StandUp      = .01;
@@ -65,7 +65,7 @@
 
 const float Kp=.04;
 const float Kp0=.001;
-const float Kd=.002;
+float Kd=.002;
 const float sat=.2;
 const int blend_thresh=250; //samples before we switch to the true trajectory
 const float Kp_mag=(Kp0-Kp)/2;
@@ -98,13 +98,13 @@
 
 //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.
-//const float zero_enc_offset_L = 223.83;
+ float zero_enc_offset_L = 223.83;
 // zero_enc_offset_R should be negative
-//const float zero_enc_offset_R = -176.4;
-// Offsets for Exo #2
-float zero_enc_offset_L = 205.24;
+float zero_enc_offset_R = -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 zero_enc_offset_R = -135.17;
 
 
 //Offset for Test Rig