Leg.h

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#ifndef Leg_h
#define Leg_h
 
// Arduino compiles everything in the src folder even if not included so it causes and error for the nano if this is not included.
#if defined(ARDUINO_TEENSY36)  || defined(ARDUINO_TEENSY41)
 
#include "Arduino.h"
 
#include "joint.h"
#include "controller.h"
#include "FSR.h"
#include "ParseIni.h"
#include "Board.h"
#include "Utilities.h"
#include "StatusDefs.h"
#include "ThIMU.h"
#include "InclinationDetector.h"
 
#include <stdint.h>
#include <algorithm>
 
class Leg
{
    public:
        //Leg();
        Leg(bool is_left, ExoData* exo_data); // constructor: 
        
        void run_leg(); 
        
        void check_calibration();  
        
        void read_data(); 
        
        void update_motor_cmds();   
        
        void set_controller(int joint, int controller);  
        
        void clear_step_time_estimate();
 
        void disable_motors();
 
        float get_Kt_for_joint(uint8_t id);
        
    private:
        void _check_thresholds();
        
        float _calc_percent_gait();
 
        float _calc_percent_stance();
 
        float _calc_percent_swing();
        
        float _update_expected_duration();
        
        float _update_expected_stance_duration();
 
        float _update_expected_swing_duration();
 
        bool _check_ground_strike();
 
        bool _check_toe_on();
        bool _check_toe_off();
        
        // data that can be accessed
        ExoData* _data;
        LegData* _leg_data; 
        // joint objects for the leg.
        // The order these are listed are important as it will determine the order their constructors are called in the initializer list.
        HipJoint _hip; 
        KneeJoint _knee; 
        AnkleJoint _ankle; 
        FSR _heel_fsr; 
        FSR _toe_fsr; 
        InclinationDetector* inclination_detector;
 
        
        bool _is_left; 
        bool _prev_heel_contact_state; 
        bool _prev_toe_contact_state; 
        bool _prev_toe_contact_state_toe_off; 
        bool _prev_toe_contact_state_toe_on; 
        static const uint8_t _num_steps_avg = 3;  
        unsigned int _step_times[_num_steps_avg];  // 
 
        unsigned int _stance_times[_num_steps_avg];
        unsigned int _swing_times[_num_steps_avg];
        
        unsigned int _ground_strike_timestamp;   
        unsigned int _prev_ground_strike_timestamp;   
        unsigned int _expected_step_duration;   
        unsigned int _toe_strike_timestamp;
        unsigned int _prev_toe_strike_timestamp;
        unsigned int _expected_stance_duration;
        unsigned int _toe_off_timestamp;
        unsigned int _prev_toe_off_timestamp;
        unsigned int _expected_swing_duration;
        
};
#endif
#endif