From b7411bf1b22889e50748475e407516704204fca5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A0ndez=20Juan?= <shernand@iri.upc.edu>
Date: Sat, 2 Sep 2017 19:35:05 +0200
Subject: [PATCH] Changed the codification of the roll and pitch shift
parameters of the stairs algorithm in simulation.
---
darwin_controller/include/darwin_controller_impl.h | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/darwin_controller/include/darwin_controller_impl.h b/darwin_controller/include/darwin_controller_impl.h
index dd9af3a..3564813 100644
--- a/darwin_controller/include/darwin_controller_impl.h
+++ b/darwin_controller/include/darwin_controller_impl.h
@@ -908,8 +908,8 @@ namespace darwin_controller
ram_write_byte(DARWIN_STAIRS_Z_OVERSHOOT,(unsigned char)(req.params.Z_OVERSHOOT*1000.0));
ram_write_byte(DARWIN_STAIRS_Z_HEIGHT,(unsigned char)(req.params.Z_HEIGHT*1000.0));
ram_write_word(DARWIN_STAIRS_HIP_PITCH_OFF_L,(unsigned short int)((req.params.HIP_PITCH_OFFSET*180.0/PI)*1024.0));
- ram_write_byte(DARWIN_STAIRS_R_SHIFT,(unsigned char)((req.params.R_SHIFT*180/PI)*8.0));
- ram_write_byte(DARWIN_STAIRS_P_SHIFT,(unsigned char)((req.params.P_SHIFT*180/PI)*8.0));
+ ram_write_byte(DARWIN_STAIRS_R_SHIFT,(unsigned char)((req.params.R_SHIFT*180/PI)*4.0));
+ ram_write_byte(DARWIN_STAIRS_P_SHIFT,(unsigned char)((req.params.P_SHIFT*180/PI)*4.0));
ram_write_byte(DARWIN_STAIRS_A_SHIFT,(unsigned char)((req.params.A_SHIFT*180/PI)*4.0));
ram_write_byte(DARWIN_STAIRS_Y_SPREAD,(unsigned char)(req.params.Y_SPREAD*1000.0));
ram_write_byte(DARWIN_STAIRS_X_SHIFT_BODY,(unsigned char)(req.params.X_SHIFT_BODY*1000.0));
@@ -969,9 +969,9 @@ namespace darwin_controller
ram_read_word(DARWIN_STAIRS_HIP_PITCH_OFF_L,&word_value);
res.params.HIP_PITCH_OFFSET=(((double)word_value)*PI/180.0)/1024.0;
ram_read_byte(DARWIN_STAIRS_R_SHIFT,&byte_value);
- res.params.R_SHIFT=((double)byte_value)*PI/1440.0;
+ res.params.R_SHIFT=((double)byte_value)*PI/720.0;
ram_read_byte(DARWIN_STAIRS_P_SHIFT,&byte_value);
- res.params.P_SHIFT=((double)byte_value)*PI/1440.0;
+ res.params.P_SHIFT=((double)byte_value)*PI/720.0;
ram_read_byte(DARWIN_STAIRS_A_SHIFT,&byte_value);
res.params.A_SHIFT=((double)byte_value)*PI/720.0;
ram_read_byte(DARWIN_STAIRS_Y_SPREAD,&byte_value);
--
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