Diff: Control/control.cpp

Revision:

11:425dff6a4af9

Parent:

10:22c44650c7c1

--- a/Control/control.cpp	Wed Mar 25 16:36:11 2015 +0000
+++ b/Control/control.cpp	Wed Mar 25 18:11:09 2015 +0000
@@ -10,17 +10,17 @@
 PaceDetector paceDetector;
 Actuator actuator;
 
-Sensor _sensor;
+Sensor* _sensor;
 
 void onStopToSwing() {
    paceDetector.lookForPeak();
-//   actuator.startHeelStrike(_sensor.time());
+   actuator.startHeelStrike(_sensor->time());
 }
 void onStopToMaybe() {
-//   actuator.startMidStance(_sensor.time());
+   actuator.startMidStance(_sensor->time());
 }
 
-void setup(Sensor &s) {
+void setup(Sensor* s) {
    _sensor = s;
    state.state = State::UNCALIBRATED;
    state.onSwing(&onStopToSwing);
@@ -29,9 +29,9 @@
 }
 
 void process() {
-   state.next(_sensor.thigh());
-   paceDetector.process(_sensor.time(), _sensor.thigh(), _sensor.shin());
-//   actuator.setPeriod(paceDetector.pace());
+   state.next(_sensor->thigh());
+   paceDetector.process(_sensor->time(), _sensor->thigh(), _sensor->shin());
+   actuator.setPeriod(paceDetector.pace());
 
    /* -actuator.getHip(_sensor.time()); */
    /* actuator.getKneeDiff(_sensor.time()); */
@@ -50,10 +50,10 @@
 }
 
 float getHip() {
-   return -actuator.getHip(_sensor.time());
+   return -actuator.getHip(_sensor->time());
 }
 
 float getKneeDiff() {
-   return actuator.getKneeDiff(_sensor.time());
+   return actuator.getKneeDiff(_sensor->time());
 }