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Dynamixel manager

Merged Dynamixel manager
dynamixel_manager into master
Merged Sergi Hernandez requested to merge dynamixel_manager into master
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src/stairs.c
+ 7
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@@ -228,7 +228,7 @@ void stairs_process(void)
ep[5]=stairs_A_Offset+stairs_A_shift_amplitude;
ep[6]=stairs_X_Offset+stairs_X_shift_amplitude-stairs_X_shift_body;
ep[7]=stairs_Y_Offset/2.0-stairs_Y_shift_amplitude+(stairs_Y_spread_amplitude/2.0);
ep[8]=stairs_Z_Offset+stairs_Z_stair_height;
ep[8]=stairs_Z_Offset+stairs_Z_stair_height-stairs_Z_overshoot*delta;
ep[9]=stairs_R_Offset+stairs_R_shift_amplitude*delta;
ep[10]=stairs_P_Offset-stairs_P_shift_amplitude;
ep[11]=stairs_A_Offset+stairs_A_shift_amplitude;
@@ -242,13 +242,13 @@ void stairs_process(void)
ep[1]=stairs_Y_Offset/2.0-stairs_Y_shift_amplitude-(stairs_Y_spread_amplitude/2.0)+(stairs_Y_spread_amplitude/2.0)*delta;
ep[2]=stairs_Z_Offset+stairs_Z_overshoot+stairs_Z_stair_height;
ep[3]=stairs_R_Offset+stairs_R_shift_amplitude;
ep[4]=stairs_P_Offset-stairs_P_shift_amplitude+stairs_P_shift_amplitude*delta;
ep[4]=stairs_P_Offset-stairs_P_shift_amplitude;
ep[5]=stairs_A_Offset+stairs_A_shift_amplitude-stairs_A_shift_amplitude*delta;
ep[6]=stairs_X_Offset+stairs_X_shift_amplitude-stairs_X_shift_body-(stairs_X_shift_amplitude-stairs_X_shift_body)*delta;
ep[7]=stairs_Y_Offset/2.0-stairs_Y_shift_amplitude+(stairs_Y_spread_amplitude/2.0)-(stairs_Y_spread_amplitude/2.0)*delta;
ep[8]=stairs_Z_Offset+stairs_Z_stair_height;
ep[8]=stairs_Z_Offset+stairs_Z_stair_height-stairs_Z_overshoot;
ep[9]=stairs_R_Offset+stairs_R_shift_amplitude;
ep[10]=stairs_P_Offset-stairs_P_shift_amplitude+stairs_P_shift_amplitude*delta;
ep[10]=stairs_P_Offset-stairs_P_shift_amplitude;
ep[11]=stairs_A_Offset+stairs_A_shift_amplitude-stairs_A_shift_amplitude*delta;
ram_data[DARWIN_STAIRS_CNTRL]|=ADVANCE_LEFT_FOOT;
}
@@ -260,13 +260,13 @@ void stairs_process(void)
ep[1]=stairs_Y_Offset/2.0-stairs_Y_shift_amplitude;
ep[2]=stairs_Z_Offset+stairs_Z_overshoot+stairs_Z_stair_height-stairs_Z_overshoot*delta;
ep[3]=stairs_R_Offset+stairs_R_shift_amplitude-stairs_R_shift_amplitude*delta;
ep[4]=stairs_P_Offset;
ep[4]=stairs_P_Offset-stairs_P_shift_amplitude+stairs_P_shift_amplitude*delta;
ep[5]=stairs_A_Offset;
ep[6]=stairs_X_Offset;
ep[7]=stairs_Y_Offset/2.0-stairs_Y_shift_amplitude;
ep[8]=stairs_Z_Offset+stairs_Z_stair_height;
ep[8]=stairs_Z_Offset+stairs_Z_stair_height-stairs_Z_overshoot+stairs_Z_overshoot*delta;
ep[9]=stairs_R_Offset+stairs_R_shift_amplitude-stairs_R_shift_amplitude*delta;
ep[10]=stairs_P_Offset;
ep[10]=stairs_P_Offset-stairs_P_shift_amplitude+stairs_P_shift_amplitude*delta;
ep[11]=stairs_A_Offset;
ram_data[DARWIN_STAIRS_CNTRL]|=CONTACT_LEFT_FOOT;
}