Added the necessary changes to use the stairs algorithm at the low level.

darwin_controller/CMakeLists.txt

@@ -127,6 +127,7 @@ add_library(${PROJECT_NAME} src/darwin_controller.cpp
                             ${DARWIN_FW_PATH}/src/smart_charger.c
                             ${DARWIN_FW_PATH}/src/grippers.c
                             ${DARWIN_FW_PATH}/src/gpio.c
+                            ${DARWIN_FW_PATH}/src/stairs.c
                             src/sim/stm32_hal.c
                             src/sim/stm32_cortex.c
                             src/sim/stm32_gpio.c

darwin_controller/src/sim/stm32_eeprom.c

@@ -100,8 +100,44 @@ unsigned char eeprom_data[]={DEFAULT_DEVICE_MODEL&0xFF,
                              DEFAULT_GRIPPER_RIGHT_MIN_ANGLE&0xFF,
                              DEFAULT_GRIPPER_RIGHT_MIN_ANGLE>>8,
                              DEFAULT_GRIPPER_RIGHT_MAX_FORCE&0xFF,
-                             DEFAULT_GRIPPER_RIGHT_MAX_FORCE>>8
-};  
+                             DEFAULT_GRIPPER_RIGHT_MAX_FORCE>>8,
+                             DEFAULT_SMART_CHARGER_PERIOD&0xFF,        
+                             DEFAULT_SMART_CHARGER_PERIOD>>8,         
+                             DEFAULT_STAIRS_PHASE1_TIME&0xFF,        
+                             DEFAULT_STAIRS_PHASE1_TIME>>8,         
+                             DEFAULT_STAIRS_PHASE2_TIME&0xFF,      
+                             DEFAULT_STAIRS_PHASE2_TIME>>8,       
+                             DEFAULT_STAIRS_PHASE3_TIME&0xFF,    
+                             DEFAULT_STAIRS_PHASE3_TIME>>8,     
+                             DEFAULT_STAIRS_PHASE4_TIME&0xFF,  
+                             DEFAULT_STAIRS_PHASE4_TIME>>8,   
+                             DEFAULT_STAIRS_PHASE5_TIME&0xFF,
+                             DEFAULT_STAIRS_PHASE5_TIME>>8, 
+                             DEFAULT_STAIRS_PHASE6_TIME&0xFF,          
+                             DEFAULT_STAIRS_PHASE6_TIME>>8,           
+                             DEFAULT_STAIRS_PHASE7_TIME&0xFF,        
+                             DEFAULT_STAIRS_PHASE7_TIME>>8,         
+                             DEFAULT_STAIRS_PHASE8_TIME&0xFF,      
+                             DEFAULT_STAIRS_PHASE8_TIME>>8,       
+                             DEFAULT_STAIRS_PHASE9_TIME&0xFF,    
+                             DEFAULT_STAIRS_PHASE9_TIME>>8,     
+                             DEFAULT_STAIRS_X_OFFSET&0xFF,        
+                             DEFAULT_STAIRS_Y_OFFSET&0xFF,       
+                             DEFAULT_STAIRS_Z_OFFSET&0xFF,      
+                             DEFAULT_STAIRS_R_OFFSET,        
+                             DEFAULT_STAIRS_P_OFFSET,       
+                             DEFAULT_STAIRS_Y_OFFSET,      
+                             DEFAULT_STAIRS_Y_SHIFT,      
+                             DEFAULT_STAIRS_X_SHIFT,
+                             DEFAULT_STAIRS_Z_OVERSHOOT,            
+                             DEFAULT_STAIRS_Z_HEIGHT,              
+                             DEFAULT_STAIRS_HIP_PITCH_OFF&0xFF,
+                             DEFAULT_STAIRS_HIP_PITCH_OFF>>8,
+                             DEFAULT_STAIRS_R_SHIFT, 
+                             DEFAULT_STAIRS_P_SHIFT,
+                             DEFAULT_STAIRS_A_SHIFT,
+                             DEFAULT_STAIRS_Y_SPREAD,
+                             DEFAULT_STAIRS_X_SHIFT_BODY};  
 
 uint16_t EE_Init(void)
 {