RobotParams.h

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#ifndef ROBOT_PARAMS_H
#define ROBOT_PARAMS_H

//#define _NOANKLES  //w / o ankles
#ifndef _NOANKLES
#define NUM_JOINTS 6
#else
#define NUM_JOINTS 4
#endif
// Macros
#define deg2rad(deg) ((deg)*M_PI / 180.0)
#define rad2deg(rad) ((rad)*180.0 / M_PI)

enum robotJoints {
    LEFT_HIP = 0,   
    LEFT_KNEE = 1,  
    RIGHT_HIP = 2,  
    RIGHT_KNEE = 3, 
    LEFT_ANKLE = 4, 
    RIGHT_ANKLE = 5 
};
enum class RobotMode {
    NORMALWALK,
    SITDWN,
    STNDUP,
    UPSTAIR,
    DWNSTAIR,
    TILTUP,
    TILTDWN,
    BKSTEP,
    FTTG,
    UNEVEN,
    INITIAL
};
#define KNEE_MOTOR_POS1 (250880)
#define KNEE_MOTOR_DEG1 (90)
#define KNEE_MOTOR_POS2 (0)
#define KNEE_MOTOR_DEG2 (0)

#define HIP_MOTOR_POS1 (250880)
#define HIP_MOTOR_DEG1 (90)
#define HIP_MOTOR_POS2 (0)
#define HIP_MOTOR_DEG2 (180)

#define ANKLE_MOTOR_POS1 (0)
#define ANKLE_MOTOR_DEG1 (90)
#define ANKLE_MOTOR_POS2 (-800000)
#define ANKLE_MOTOR_DEG2 (115)

#endif /*ROBOT_PARAMS_H*/