Declares the functions needed and defines mapping between the INI keys and the exo components. More...

#include <stdint.h>

Include dependency graph for ParseIni.h:

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Namespaces
namespace	ini_config
	define the constants to use for the various arrays.

namespace	config_defs
	Namespace that defines numeric coding for different keys values. These are used throughout the code.

Enumerations
enum class	config_defs::board_name : uint8_t { config_defs::AK_board = 1 }

enum class	config_defs::board_version : uint8_t { config_defs::zero_one = 1 , config_defs::zero_three = 2 , config_defs::zero_four = 3 , config_defs::zero_five_one = 4 }

enum class	config_defs::battery : uint8_t { config_defs::smart = 1 , config_defs::dumb = 2 }

enum class	config_defs::exo_name : uint8_t { config_defs::bilateral_ankle = 1 , config_defs::bilateral_hip = 2 , config_defs::bilateral_hip_ankle = 3 , config_defs::left_ankle = 4 , config_defs::right_ankle = 5 , config_defs::left_hip = 6 , config_defs::right_hip = 7 , config_defs::left_hip_ankle = 8 , config_defs::right_hip_ankle = 9 , config_defs::test = 10 , config_defs::right_knee = 11 }

enum class	config_defs::exo_side : uint8_t { config_defs::bilateral = 1 , config_defs::left = 2 , config_defs::right = 3 }

enum class	config_defs::JointType { config_defs::hip = 1 , config_defs::knee = 2 , config_defs::ankle = 3 }

enum class	config_defs::motor : uint8_t { config_defs::not_used = 1 , config_defs::AK60 = 2 , config_defs::AK80 = 3 , config_defs::AK60_v1_1 = 4 , config_defs::AK60_v1_1_T = 5 }

enum class	config_defs::gearing : uint8_t { config_defs::gearing_1_1 = 1 , config_defs::gearing_2_1 = 2 , config_defs::gearing_3_1 = 3 , config_defs::gearing_4_5_1 = 4 }

enum class	config_defs::joint_id : uint8_t { config_defs::left = 0b01000000 , config_defs::right = 0b00100000 , config_defs::hip = 0b00000001 , config_defs::knee = 0b00000010 , config_defs::ankle = 0b00000100 , config_defs::left_hip = left\|hip , config_defs::left_knee = left\|knee , config_defs::left_ankle = left\|ankle , config_defs::right_hip = right\|hip , config_defs::right_knee = right\|knee , config_defs::right_ankle = right\|ankle }

enum class	config_defs::hip_controllers : uint8_t { config_defs::disabled = 1 , config_defs::zero_torque = 2 , config_defs::heel_toe = 3 , config_defs::extension_angle = 4 , config_defs::franks_collins_hip = 5 , config_defs::bang_bang = 6 , config_defs::late_stance = 7 , config_defs::gait_phase = 8 , config_defs::user_defined = 9 , config_defs::sine = 10 , config_defs::stasis = 11 , config_defs::perturbation = 12 , config_defs::parabolic = 13 , config_defs::constant_torque = 14 , config_defs::ptb_general = 15 }

enum class	config_defs::knee_controllers : uint8_t { config_defs::disabled = 1 , config_defs::zero_torque = 2 , config_defs::user_defined = 3 , config_defs::sine = 4 , config_defs::stasis = 5 , config_defs::perturbation = 6 , config_defs::constant_torque = 7 , config_defs::elbow_min_max = 8 }

enum class	config_defs::ankle_controllers : uint8_t { config_defs::disabled = 1 , config_defs::zero_torque = 2 , config_defs::pjmc = 3 , config_defs::zhang_collins = 4 , config_defs::user_defined = 5 , config_defs::sine = 6 , config_defs::stasis = 7 , config_defs::perturbation = 8 , config_defs::constant_torque = 9 , config_defs::ptb_general = 10 , config_defs::gasp = 11 , config_defs::elbow_min_max = 12 , config_defs::calibr_manager = 13 }

enum class	config_defs::flip_dir : uint8_t { config_defs::neither = 1 , config_defs::left = 2 , config_defs::right = 3 , config_defs::both = 4 }

Variables
const int	ini_config::buffer_length = 500

const int	ini_config::key_length = 25

const int	ini_config::section_length = 10

const int	ini_config::number_of_keys = 17

Detailed Description

Declares the functions needed and defines mapping between the INI keys and the exo components.

Author: P. Stegall

Date: Jan. 2022

Namespaces

Enumerations

Variables

Detailed Description