heelstrike.h File Reference

Go to the source code of this file.

Functions
void	hs_calc_filtered_data (void)
int	hs_get (void)
float	hs_get_float (void)
void	hs_init (float exp_filter_coeff, int confidence, int threshold, int cmax, INT_VOID_F get_right, INT_VOID_F get_left)
void	hs_look4hs (void)
void	hs_look4hup (void)
void	hs_set_state (float next_state)
void	hs_update (void)

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Detailed Description

Author:

Nicolas Champagne-Williamson

Date:

June 2010

Definition in file heelstrike.h.

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Function Documentation

void hs_look4hup

(

void

)

!! need to get more reliability by making sure it works even if the sensors get stuck

Definition at line 101 of file heelstrike.c.

References int_to_fixed().

                      {

  if (hs_heelstrike == 1){   // single crossig is good enough to detect, dont want to repeat the calculations 
    raw_sum =  int_to_fixed(hs_get_right() + hs_get_left());
    if(raw_sum < hs_foot_up_threshold ) {hs_heelstrike = 0;}
  }

}