From af0c1ba11ad4cfc4473e1ad425843c75c0d1fc0f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A0ndez=20Juan?= <shernand@iri.upc.edu>
Date: Sun, 27 Aug 2017 23:23:47 +0200
Subject: [PATCH] Added the necessary changes to use the stairs algorithm at
the low level.
---
darwin_controller/CMakeLists.txt | 1 +
darwin_controller/src/sim/stm32_eeprom.c | 40 ++++++++++++++++++++++--
2 files changed, 39 insertions(+), 2 deletions(-)
diff --git a/darwin_controller/CMakeLists.txt b/darwin_controller/CMakeLists.txt
index c737342..48c2d89 100644
--- a/darwin_controller/CMakeLists.txt
+++ b/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
diff --git a/darwin_controller/src/sim/stm32_eeprom.c b/darwin_controller/src/sim/stm32_eeprom.c
index 340293b..79adadc 100644
--- a/darwin_controller/src/sim/stm32_eeprom.c
+++ b/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)
{
--
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