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Classes | Namespaces | Macros | Variables
ControllerData.h File Reference

Declares a class used to store data for controllers to access. More...

#include <stdint.h>
#include "Arduino.h"
#include "Board.h"
#include "ParseIni.h"
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Go to the source code of this file.

Classes

class  ControllerData
 class to store information related to controllers. More...
 

Namespaces

namespace  controller_defs
 
namespace  controller_defs::zero_torque
 
namespace  controller_defs::stasis
 
namespace  controller_defs::proportional_joint_moment
 
namespace  controller_defs::heel_toe
 
namespace  controller_defs::extension_angle
 
namespace  controller_defs::bang_bang
 
namespace  controller_defs::late_stance
 
namespace  controller_defs::gait_phase
 
namespace  controller_defs::parabolic
 
namespace  controller_defs::zhang_collins
 
namespace  controller_defs::franks_collins_hip
 
namespace  controller_defs::sine
 
namespace  controller_defs::perturbation
 
namespace  controller_defs::constant_torque
 
namespace  controller_defs::elbow_min_max
 
namespace  controller_defs::ptb_general
 
namespace  controller_defs::propulsive_assistive
 
namespace  controller_defs::calibr_manager
 

Macros

#define ControllerData_h
 

Variables

const uint8_t controller_defs::zero_torque::use_pid_idx = 0
 
const uint8_t controller_defs::zero_torque::p_gain_idx = 1
 
const uint8_t controller_defs::zero_torque::i_gain_idx = 2
 
const uint8_t controller_defs::zero_torque::d_gain_idx = 3
 
const uint8_t controller_defs::zero_torque::num_parameter = 4
 
const uint8_t controller_defs::stasis::num_parameter = 0
 
const uint8_t controller_defs::proportional_joint_moment::stance_max_idx = 0
 
const uint8_t controller_defs::proportional_joint_moment::swing_max_idx = 1
 
const uint8_t controller_defs::proportional_joint_moment::is_assitance_idx = 2
 
const uint8_t controller_defs::proportional_joint_moment::use_pid_idx = 3
 
const uint8_t controller_defs::proportional_joint_moment::p_gain_idx = 4
 
const uint8_t controller_defs::proportional_joint_moment::i_gain_idx = 5
 
const uint8_t controller_defs::proportional_joint_moment::d_gain_idx = 6
 
const uint8_t controller_defs::proportional_joint_moment::torque_alpha_idx = 7
 
const uint8_t controller_defs::proportional_joint_moment::num_parameter = 8
 
const uint8_t controller_defs::heel_toe::flexion_torque_setpoint_idx = 0
 
const uint8_t controller_defs::heel_toe::extension_torque_setpoint_idx = 1
 
const uint8_t controller_defs::heel_toe::use_pid_idx = 2
 
const uint8_t controller_defs::heel_toe::p_gain_idx = 3
 
const uint8_t controller_defs::heel_toe::i_gain_idx = 4
 
const uint8_t controller_defs::heel_toe::d_gain_idx = 5
 
const uint8_t controller_defs::heel_toe::num_parameter = 6
 
const uint8_t controller_defs::extension_angle::flexion_setpoint_idx = 0
 
const uint8_t controller_defs::extension_angle::extension_setpoint_idx = 1
 
const uint8_t controller_defs::extension_angle::target_flexion_percent_max_idx = 2
 
const uint8_t controller_defs::extension_angle::clear_angle_idx = 3
 
const uint8_t controller_defs::extension_angle::angle_threshold_idx = 4
 
const uint8_t controller_defs::extension_angle::velocity_threshold_idx = 5
 
const uint8_t controller_defs::extension_angle::use_pid_idx = 6
 
const uint8_t controller_defs::extension_angle::p_gain_idx = 7
 
const uint8_t controller_defs::extension_angle::i_gain_idx = 8
 
const uint8_t controller_defs::extension_angle::d_gain_idx = 9
 
const uint8_t controller_defs::extension_angle::num_parameter = 10
 
const uint8_t controller_defs::bang_bang::flexion_setpoint_idx = 0
 
const uint8_t controller_defs::bang_bang::extension_setpoint_idx = 1
 
const uint8_t controller_defs::bang_bang::is_assitance_idx = 2
 
const uint8_t controller_defs::bang_bang::target_flexion_percent_max_idx = 3
 
const uint8_t controller_defs::bang_bang::clear_angle_idx = 4
 
const uint8_t controller_defs::bang_bang::angle_threshold_idx = 5
 
const uint8_t controller_defs::bang_bang::velocity_threshold_idx = 6
 
const uint8_t controller_defs::bang_bang::use_pid_idx = 7
 
const uint8_t controller_defs::bang_bang::p_gain_idx = 8
 
const uint8_t controller_defs::bang_bang::i_gain_idx = 9
 
const uint8_t controller_defs::bang_bang::d_gain_idx = 10
 
const uint8_t controller_defs::bang_bang::num_parameter = 11
 
const uint8_t controller_defs::late_stance::resistance_setpoint_idx = 0
 
const uint8_t controller_defs::late_stance::angle_on_off = 1
 
const uint8_t controller_defs::late_stance::clear_angle_idx = 2
 
const uint8_t controller_defs::late_stance::velocity_threshold_idx = 3
 
const uint8_t controller_defs::late_stance::use_pid_idx = 4
 
const uint8_t controller_defs::late_stance::p_gain_idx = 5
 
const uint8_t controller_defs::late_stance::i_gain_idx = 6
 
const uint8_t controller_defs::late_stance::d_gain_idx = 7
 
const uint8_t controller_defs::late_stance::num_parameter = 8
 
const uint8_t controller_defs::gait_phase::flexion_setpoint_idx = 0
 
const uint8_t controller_defs::gait_phase::extension_setpoint_idx = 1
 
const uint8_t controller_defs::gait_phase::flexion_start_percentage_idx = 2
 
const uint8_t controller_defs::gait_phase::flexion_end_percentage_idx = 3
 
const uint8_t controller_defs::gait_phase::extension_start_percentage_idx = 4
 
const uint8_t controller_defs::gait_phase::extension_end_percentage_idx = 5
 
const uint8_t controller_defs::gait_phase::slope_idx = 6
 
const uint8_t controller_defs::gait_phase::use_pid_idx = 7
 
const uint8_t controller_defs::gait_phase::p_gain_idx = 8
 
const uint8_t controller_defs::gait_phase::i_gain_idx = 9
 
const uint8_t controller_defs::gait_phase::d_gain_idx = 10
 
const uint8_t controller_defs::gait_phase::num_parameter = 11
 
const uint8_t controller_defs::parabolic::flexion_setpoint_idx = 0
 
const uint8_t controller_defs::parabolic::extension_setpoint_idx = 1
 
const uint8_t controller_defs::parabolic::flexion_start_percentage_idx = 2
 
const uint8_t controller_defs::parabolic::flexion_end_percentage_idx = 3
 
const uint8_t controller_defs::parabolic::extension_start_percentage_idx = 4
 
const uint8_t controller_defs::parabolic::extension_end_percentage_idx = 5
 
const uint8_t controller_defs::parabolic::num_parameter = 6
 
const uint8_t controller_defs::zhang_collins::torque_idx = 0
 
const uint8_t controller_defs::zhang_collins::peak_time_idx = 1
 
const uint8_t controller_defs::zhang_collins::rise_time_idx = 2
 
const uint8_t controller_defs::zhang_collins::fall_time_idx = 3
 
const uint8_t controller_defs::zhang_collins::direction_idx = 4
 
const uint8_t controller_defs::zhang_collins::use_pid_idx = 5
 
const uint8_t controller_defs::zhang_collins::p_gain_idx = 6
 
const uint8_t controller_defs::zhang_collins::i_gain_idx = 7
 
const uint8_t controller_defs::zhang_collins::d_gain_idx = 8
 
const uint8_t controller_defs::zhang_collins::num_parameter = 9
 
const uint8_t controller_defs::franks_collins_hip::mass_idx = 0
 
const uint8_t controller_defs::franks_collins_hip::trough_normalized_torque_Nm_kg_idx = 1
 
const uint8_t controller_defs::franks_collins_hip::peak_normalized_torque_Nm_kg_idx = 2
 
const uint8_t controller_defs::franks_collins_hip::start_percent_gait_idx = 3
 
const uint8_t controller_defs::franks_collins_hip::trough_onset_percent_gait_idx = 4
 
const uint8_t controller_defs::franks_collins_hip::trough_percent_gait_idx = 5
 
const uint8_t controller_defs::franks_collins_hip::mid_time_idx = 6
 
const uint8_t controller_defs::franks_collins_hip::mid_duration_idx = 7
 
const uint8_t controller_defs::franks_collins_hip::peak_percent_gait_idx = 8
 
const uint8_t controller_defs::franks_collins_hip::peak_offset_percent_gait_idx = 9
 
const uint8_t controller_defs::franks_collins_hip::use_pid_idx = 10
 
const uint8_t controller_defs::franks_collins_hip::p_gain_idx = 11
 
const uint8_t controller_defs::franks_collins_hip::i_gain_idx = 12
 
const uint8_t controller_defs::franks_collins_hip::d_gain_idx = 13
 
const uint8_t controller_defs::franks_collins_hip::num_parameter = 14
 
const uint8_t controller_defs::sine::amplitude_idx = 0
 
const uint8_t controller_defs::sine::period_idx = 1
 
const uint8_t controller_defs::sine::phase_shift_idx = 2
 
const uint8_t controller_defs::sine::use_pid_idx = 3
 
const uint8_t controller_defs::sine::p_gain_idx = 4
 
const uint8_t controller_defs::sine::i_gain_idx = 5
 
const uint8_t controller_defs::sine::d_gain_idx = 6
 
const uint8_t controller_defs::sine::num_parameter = 7
 
const uint8_t controller_defs::perturbation::amplitude_idx = 0
 
const uint8_t controller_defs::perturbation::threshold_start_idx = 1
 
const uint8_t controller_defs::perturbation::threshold_end_idx = 2
 
const uint8_t controller_defs::perturbation::direction_idx = 3
 
const uint8_t controller_defs::perturbation::num_parameter = 4
 
const uint8_t controller_defs::constant_torque::amplitude_idx = 0
 
const uint8_t controller_defs::constant_torque::direction_idx = 0
 
const uint8_t controller_defs::constant_torque::num_parameter = 3
 
const uint8_t controller_defs::elbow_min_max::amplitude_idx = 0
 
const uint8_t controller_defs::elbow_min_max::fsr_threshold_idx = 1
 
const uint8_t controller_defs::elbow_min_max::fsr_threshold1_idx = 2
 
const uint8_t controller_defs::elbow_min_max::num_parameter = 3
 
const uint8_t controller_defs::ptb_general::ptb_mode_idx = 0
 
const uint8_t controller_defs::ptb_general::ptb_settings_1_idx = 1
 
const uint8_t controller_defs::ptb_general::ptb_settings_2_idx = 2
 
const uint8_t controller_defs::ptb_general::ptb_settings_3_idx = 3
 
const uint8_t controller_defs::ptb_general::ptb_settings_4_idx = 4
 
const uint8_t controller_defs::ptb_general::use_pid_idx = 5
 
const uint8_t controller_defs::ptb_general::p_gain_idx = 6
 
const uint8_t controller_defs::ptb_general::i_gain_idx = 7
 
const uint8_t controller_defs::ptb_general::d_gain_idx = 8
 
const uint8_t controller_defs::ptb_general::ptb_settings_9_idx = 9
 
const uint8_t controller_defs::ptb_general::num_parameter = 10
 
const uint8_t controller_defs::propulsive_assistive::plantar_scaling = 0
 
const uint8_t controller_defs::propulsive_assistive::dorsi_scaling = 1
 
const uint8_t controller_defs::propulsive_assistive::timing_threshold = 2
 
const uint8_t controller_defs::propulsive_assistive::spring_stiffness = 3
 
const uint8_t controller_defs::propulsive_assistive::neutral_angle = 4
 
const uint8_t controller_defs::propulsive_assistive::damping = 5
 
const uint8_t controller_defs::propulsive_assistive::propulsive_gain = 6
 
const uint8_t controller_defs::propulsive_assistive::kp = 7
 
const uint8_t controller_defs::propulsive_assistive::kd = 8
 
const uint8_t controller_defs::propulsive_assistive::num_parameter = 9
 
const uint8_t controller_defs::calibr_manager::calibr_cmd = 0
 
const uint8_t controller_defs::calibr_manager::num_parameter = 1
 
const uint8_t controller_defs::max_parameters = franks_collins_hip::num_parameter
 

Detailed Description

Declares a class used to store data for controllers to access.

Author
P. Stegall
Date
Jan. 2022

Macro Definition Documentation

◆ ControllerData_h

#define ControllerData_h
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