Diff: initExoVars.cpp

Revision:

9:6cf157a6d58b

Parent:

8:ae167702ebcc

Child:

10:29955bf36492

--- a/initExoVars.cpp	Sun Jun 28 02:09:49 2015 +0000
+++ b/initExoVars.cpp	Mon Jun 29 21:20:35 2015 +0000
@@ -92,7 +92,7 @@
 
 //PARAMETER ADJUSTMENT - Standing Angle
 //Steve = 10
-float stand_adjust=0; //positive is more upright//Steve=10 deg
+float stand_adjust=10; //positive is more upright//Steve=10 deg
 //Person 1
 //const float stand_adjust=10;
 //Person 2
@@ -100,15 +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
@@ -130,10 +130,13 @@
 
 
 MMgait_t mm_gait_params;
+Brad_poly_gait_t gait_params;
 //MMSwing swing(mm_gait_params);
 //MMStance stance(mm_gait_params);
-MMSwing swing;
-MMStance stance;
+//MMSwing swing;
+//MMStance stance;
+BradPolySwing swing;
+BradPolyStance stance;
 MMFSSwing fsSwing;
 MMFSStance fsStance;
 MMFTG ftgSwing;
@@ -199,8 +202,17 @@
     mm_gait_params.max_angle=30;
     mm_gait_params.max_fs_angle=mm_gait_params.max_angle*1.16;
 
-    swing.set(mm_gait_params);
-    stance.set(mm_gait_params);
+    gait_params.time_steps=900;
+    gait_params.peak_time=416;
+    gait_params.stance_start=10;
+    gait_params.stance_end=-22;
+    gait_params.max_angle=30;
+    gait_params.max_fs_angle=mm_gait_params.max_angle*1.16;
+
+    //swing.set(mm_gait_params);
+    //stance.set(mm_gait_params);
+    swing.set(gait_params);
+    stance.set(gait_params);
     fsSwing.set(mm_gait_params);
     fsStance.set(mm_gait_params);
     ftgSwing.set(mm_gait_params);