Revision 1:72e0bd01c8e0, committed 2015-06-26

Comitter:

perr1940

Date:

Fri Jun 26 16:28:02 2015 +0000

Parent:

0:cd5ad8e47eb8

Commit message:

added new FTG and first step generators

Changed in this revision

--- a/initExoVars.cpp	Wed Jun 24 19:24:08 2015 +0000
+++ b/initExoVars.cpp	Fri Jun 26 16:28:02 2015 +0000
@@ -98,17 +98,17 @@
  
 //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;
+const float zero_enc_offset_L = 223.83;
 // zero_enc_offset_R should be negative
-//const float zero_enc_offset_R = -176.4;
+const float zero_enc_offset_R = -176.4;
 // Offsets for Exo #2
 //const float zero_enc_offset_L = 168.24;
 // zero_enc_offset_R should be negative
 //const float zero_enc_offset_R = -128.12;
 //Offset for Test Rig
-const float zero_enc_offset_L = 205.24;
+//const float zero_enc_offset_L = 205.24;
 // zero_enc_offset_R should be negative
-const float zero_enc_offset_R = -135.17;
+//const float zero_enc_offset_R = -135.17;
  
 //zero_ang_X is the zero angle based on the mechanical assembly of the hip and the standing angle parameters of the individual user.
 const float zero_ang_L=zero_enc_offset_L+stand_adjust;
@@ -125,6 +125,12 @@
 //MMStance stance(mm_gait_params);
 MMSwing swing;
 MMStance stance;
+MMFSSwing fsSwing;
+MMFSStance fsStance;
+MMFTG ftgSwing;
+MMFTG ftgStance;
+LinearBlend blend_left;
+LinearBlend blend_right;
 
 void initializeExoIOs()
 {
@@ -166,6 +172,10 @@
 
     swing.set(mm_gait_params);
     stance.set(mm_gait_params);
+    fsSwing.set(mm_gait_params);
+   fsStance.set(mm_gait_params);
+   ftgSwing.set(mm_gait_params);
+   ftgStance.set(mm_gait_params);
     //pc.printf("%Mem: %d \r\n", AvailableMemory());
 
 

--- a/initExoVars.h	Wed Jun 24 19:24:08 2015 +0000
+++ b/initExoVars.h	Fri Jun 26 16:28:02 2015 +0000
@@ -62,6 +62,12 @@
 extern struct MMgait_t mm_gait_params;
 extern MMSwing swing;
 extern MMStance stance;
+extern MMFSSwing fsSwing;
+extern MMFSStance fsStance;
+extern MMFTG ftgSwing;
+extern MMFTG ftgStance;
+extern LinearBlend blend_left;
+extern LinearBlend blend_right;
 extern GaitGenerator mm_gait;