LegData.h

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#ifndef LegData_h
#define LegData_h
 
#include "Arduino.h"
 
#include "JointData.h"
#include "ParseIni.h"
#include "Board.h"
#include "InclinationDetector.h"
 
#include <stdint.h>
 
// forward declaration
class ExoData;
 
class LegData {
       
    public:
        LegData(bool is_left, uint8_t* config_to_send);
        
        void reconfigure(uint8_t* config_to_send);
        
        JointData hip; 
        JointData knee; 
        JointData ankle; 
        float percent_gait;  
        float expected_step_duration;  
        float percent_stance;
        float expected_stance_duration;
 
        float percent_swing;
        float expected_swing_duration;
        
        float heel_fsr;  
        float heel_fsr_upper_threshold;
        float heel_fsr_lower_threshold;
        float toe_fsr;  
        float toe_fsr_upper_threshold;
        float toe_fsr_lower_threshold;
 
        
        bool ground_strike;  
        bool toe_strike;
        bool toe_off; 
        bool toe_on;
        bool heel_stance;  
        bool toe_stance;  
        bool prev_heel_stance;  
        bool prev_toe_stance;   
        bool is_left; 
        bool is_used; 
        bool do_calibration_toe_fsr;  
        bool do_calibration_refinement_toe_fsr;  
        bool do_calibration_heel_fsr;  
        bool do_calibration_refinement_heel_fsr;  
        float ankle_angle_at_ground_strike;
        float expected_duration_window_upper_coeff; 
        float expected_duration_window_lower_coeff; 
        Inclination inclination;
 
        float PHJM_state;   
};
 
#endif