Nathaniel Honka / initExoVars

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Fork of initExoVars by HEL's Angels

Diff: initExoVars.h

Revision:
5:fcd299262d0a
Parent:
4:bd8994714003
Child:
6:87ad618621a4
--- a/initExoVars.h	Fri Jun 26 17:00:42 2015 +0000
+++ b/initExoVars.h	Fri Jun 26 21:32:32 2015 +0000
@@ -95,8 +95,8 @@
 //Control Variables
 // Control variables
 // Gain Scheduling!
-extern const float Kp_Swing;
-extern const float Kp_Stance;
+extern float Kp_Swing;
+extern float Kp_Stance;
 extern const float Kp_DoubleStance;//.01;
 extern const float Kp_Standing;//.01; //0.0025
 extern const float Kp_StandUp;
@@ -104,7 +104,7 @@
 extern const float Kp_Seated;
 
 extern const float Kp;
-extern const float Kd;
+extern float Kd;
 extern const float sat;
 extern const float Kp_mag;
 extern const float Kp_freq;
@@ -112,8 +112,6 @@
 extern float stand_adjust;
 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;