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#include <humanoid_control/servohumanoid.h>


ServoHumanoid::ServoHumanoid(const char* path)
{
    SetParameters();
    
    hitec=(hitec_5980SG*) new hitec_5980SG(path);

    //robot_state.speed_g_static=50;
    
    int speed=25;
    int position;
    //double angle_position;
    //const short int id_list[20]={61,54,53,51,44,43,41,31,32,33,21,22,23,25,26,11,12,13,15,16};
    const short int id_list[12]={11,21,12,22,13,32,15,25,16,26,31,23};//alt   
    for(int i=0;i<12;i++)
    {
        position=SetJointSpeed(id_list[i],speed);
        ROS_INFO("Servo %d --> responce : %d", id_list[i], position);
        RoboState.joint_wanted[i]=0;
    }
}

void ServoHumanoid::SetParameters(void)
{
    //robot dimensions
    robot_dimensions.arm_length =   123.; // mm
    robot_dimensions.forearm_length =   106.; // mm
    robot_dimensions.shin_length =  139.; //mm
    robot_dimensions.thigh_length =     143.; //mm
    robot_dimensions.foot_length =  150.; //mm
    robot_dimensions.foot_width =   50.; //mm
    robot_dimensions.ankle_height =     50.; //mm
    // definition of the number PI
    //PI=3.141592653589793238462643383279502884197;
    // joint servo offsets/conversion constants
    robot_servo_conversion.head_servo_offset =              2400.;
    robot_servo_conversion.shoulder_flexion_servo_offset_left =         1050.;
    robot_servo_conversion.shoulder_flexion_servo_offset_right =        1975.;
    robot_servo_conversion.shoulder_abduction_servo_offset_left =   600.;
    robot_servo_conversion.shoulder_abduction_servo_offset_right =  2400.;
    robot_servo_conversion.elbow_flexion_servo_offset_left =        2400.;
    robot_servo_conversion.elbow_flexion_servo_offset_right =       600.;
    robot_servo_conversion.torso_rotation_servo_offset =            1500.;
    robot_servo_conversion.torso_flexion_servo_offset =         750.;
    robot_servo_conversion.torso_lateral_flexion_servo_offset =     1500.;
    robot_servo_conversion.knee_flexion_b_value_left =          600.;
    robot_servo_conversion.knee_flexion_b_value_right =         2400.;
    robot_servo_conversion.hip_flexion_b_value_left =           900.;
    robot_servo_conversion.hip_flexion_b_value_right =          1600.;
    // joint limits
    robot_joint_limits.head_min_tilt =          0.; // degree
    robot_joint_limits.head_max_tilt =          10.; // degree
    robot_joint_limits.shoulder_min_flexion =       -45.; // degree
    robot_joint_limits.shoulder_max_flexion =       135.; // degree
    robot_joint_limits.shoulder_min_abduction =     0.; // degree
    robot_joint_limits.shoulder_max_abduction =     180.; // degree
    robot_joint_limits.elbow_min_flexion =      0.; // degree
    robot_joint_limits.elbow_max_flexion =      120.; // degree
    robot_joint_limits.torso_min_rotation =     -90.; // degree
    robot_joint_limits.torso_max_rotation =     90.; // degree
    robot_joint_limits.torso_min_flexion =      -15.;  // degree
    robot_joint_limits.torso_max_flexion =      90.;  // degree
    robot_joint_limits.torso_min_lateral_flexion =  -90.; // degree
    robot_joint_limits.torso_max_lateral_flexion =  90.; // degree
    robot_joint_limits.ankle_min_inversion =        -30.; // degree
    robot_joint_limits.ankle_max_inversion =        45.; // degree
    robot_joint_limits.ankle_min_flexion =      -40.; // degree
    robot_joint_limits.ankle_max_flexion =      20.; // degree
    robot_joint_limits.knee_min_flexion =           0.; // degree
    robot_joint_limits.knee_max_flexion =           130.; // degree
    robot_joint_limits.hip_min_abduction =      -40.; // degree
    robot_joint_limits.hip_max_abduction =      45; // degree
    robot_joint_limits.hip_min_flexion =            -30.; // degree
    robot_joint_limits.hip_max_flexion =            120.; // degree
    //robot's masses
    robot_element_mass.foot_mass =  0.444; //kg
    robot_element_mass.shin_mass =  0.343; //kg
    robot_element_mass.thigh_mass = 0.243; //kg -> hip servos/joints don't count, added to pelvis
    //robot's COM
    robot_relative_COM.foot_CoM << 9.06, 2.746, 31.7; //mm
    robot_relative_COM.shin_CoM << 0.182, 15.861, 88.519; //mm
    robot_relative_COM.thigh_CoM << -2.262, 1.418, 101.284; //mm
    
    // Joint off sets to compensate the mechanical settings
    joint_offset.torso_rotation_joint_offset=0.;
    joint_offset.torso_flexion_joint_offset=-20.;
    joint_offset.torso_lateral_flexion_joint_offset=0.;
    joint_offset.knee_flexion_joint_offset_left=0. + 5.;
    joint_offset.knee_flexion_joint_offset_right=-3. + 5.;
    joint_offset.hip_flexion_joint_offset_left=-5. - 5;
    joint_offset.hip_flexion_joint_offset_right=5. - 5; // 3. - 5
    joint_offset.hip_abduction_joint_offset_left=-3.;
    joint_offset.hip_abduction_joint_offset_right=0.;
    joint_offset.feet_flexion_joint_offset_left=5. ;
    joint_offset.feet_flexion_joint_offset_right=5. ;
    joint_offset.feet_inversion_joint_offset_left=0.;
    joint_offset.feet_inversion_joint_offset_right=20.;
    
    // RoboState's inicializing
    RoboState.speed_g_static=20;
    for (int i = 0; i < 12; i++)
    {
        //RoboState.speed_now[i]=RoboState.speed_g_static;
        RoboState.speed_wanted[i]=RoboState.speed_g_static;
    }
}

void ServoHumanoid::HomePosition(void)
{
    const short int id_list[12]={11,21,12,22,13,32,15,25,16,26,31,23};//alt    
    short unsigned int resp = 65535;
    
    for (uint i = 0 ; i < 12 ; i++)
    {
        resp = MoveJoint(id_list[i], 0.0);
        ROS_INFO("Servo with ID %d was set to Home position and gave the responce %d", id_list[i], resp);
    }
    for (uint i = 0 ; i < 12 ; i++)
    {
        resp=SetJointSpeed(id_list[i],RoboState.speed_wanted[i]);
        RoboState.joint_now[i]=ConvertServoValueByID(id_list[i], resp);
    }

}


short unsigned int ServoHumanoid::MoveJoint(short int id, double joint_angle)
{
    short unsigned int resp = 65535;
    
    switch(id)
    {
        case 31:
        {
            resp = Torso_Rotation_Movement(joint_angle + joint_offset.torso_rotation_joint_offset);
            break;
        }
        case 23://alt
        {
            resp = Torso_Flexion_Extension_Movement(joint_angle + joint_offset.torso_flexion_joint_offset);
            break;
        }
        //case 33:
        //{
            //resp = Torso_Lateral_Flexion_Extension_Movement(joint_angle + joint_offset.torso_lateral_flexion_joint_offset);
            //break;
        //}
        case 21:
        {
            resp = Ankle_Inversion_Eversion_Movement(id,joint_angle + joint_offset.feet_inversion_joint_offset_left);
            break;
        }
        case 22:
        {
            resp = Ankle_Flexion_Movement(id,joint_angle + joint_offset.feet_flexion_joint_offset_left);
            break;
        }
        case 32://alt
        {
            resp = Knee_Movement(id,joint_angle + joint_offset.knee_flexion_joint_offset_left);
            break;
        }
        case 25:
        {
            resp = Hip_Abduction_Hiperabduction_Movement(id,joint_angle + joint_offset.hip_abduction_joint_offset_left);
            break;
        }
        case 26:
        {
            resp = Hip_Flexion_Movement(id,joint_angle + joint_offset.hip_flexion_joint_offset_left);
            break;
        }
        case 11:
        {
            resp = Ankle_Inversion_Eversion_Movement(id,joint_angle + joint_offset.feet_inversion_joint_offset_right);
            break;
        }
        case 12:
        {
            resp = Ankle_Flexion_Movement(id,joint_angle + joint_offset.feet_flexion_joint_offset_right);
            break;
        }
        case 13:
        {
            resp = Knee_Movement(id,joint_angle + joint_offset.knee_flexion_joint_offset_right);
            break;
        }
        case 15:
        {
            resp = Hip_Abduction_Hiperabduction_Movement(id,joint_angle + joint_offset.hip_abduction_joint_offset_right);
            break;
        }
        case 16:
        {
            resp = Hip_Flexion_Movement(id,joint_angle + joint_offset.hip_flexion_joint_offset_right);
            break;
        }
        case 1000:
        {
            HomePosition();
            //resp = 0;
        }
        default:
        {
            ROS_INFO("Servo ID %d not recognized", id);
            break;
        }
    }
        
    return resp;
}


short unsigned int ServoHumanoid::SetJointSpeed(short int id, unsigned int speed)
{
    short unsigned int resp;
    
    switch(id)
    {
        case 31:
        {
            resp = hitec->SetSpeedPosition(id, speed);
            break;
        }
        case 23://alt
        {
            resp = hitec->SetSpeedPosition(id, speed);
            break;
        }
        case 33:
        {
            resp = hitec->SetSpeedPosition(id, speed);
            break;
        }
        case 21:
        {
            resp = hitec->SetSpeedPosition(id, speed*4./2.);
            break;
        }
        case 22:
        {
            resp = hitec->SetSpeedPosition(id, speed*4./2.);
            break;
        }
        case 32://alt
        {
            resp = hitec->SetSpeedPosition(id, speed*(30./22.));
            break;
        }
        case 25:
        {
            resp = hitec->SetSpeedPosition(id, speed*4./2.);
            break;
        }
        case 26:
        {
            resp = hitec->SetSpeedPosition(id, speed*(30./22.));
            break;
        }
        case 11:
        {
            resp = hitec->SetSpeedPosition(id, speed*4./2.);
            break;
        }
        case 12:
        {
            resp = hitec->SetSpeedPosition(id, speed*4./2.);
            break;
        }
        case 13:
        {
            resp = hitec->SetSpeedPosition(id, speed*(30./22.));
            break;
        }
        case 15:
        {
            resp = hitec->SetSpeedPosition(id, speed*4./2.);
            break;
        }
        case 16:
        {
            resp = hitec->SetSpeedPosition(id, speed*(30./22.));
            break;
        }
        case 1000:
        {
            const short int id_list[12]={11,21,12,22,13,32,15,25,16,26,31,23};//alt     
            for(int i=0;i<12;i++)
            {
                resp=SetJointSpeed(id_list[i],speed);
            }
            ROS_INFO("Setting all Servo's speed to %d", speed);                 
        }
        default:
        {
            ROS_INFO("Servo ID %d not recognized", id);
            resp = 65535;
            break;
        }
    }
    return resp;
}


double ServoHumanoid::ConvertServoValueByID(int id, short unsigned int servo_value)
{
    
    double joint_angle=0xFFFF;
    switch (id)
    {
        case 31:
        {
            joint_angle=Torso_Rotation_ServoValue_Conversion(servo_value) - joint_offset.torso_rotation_joint_offset;
            break;
        }
        case 23://alt
        {
            joint_angle=Torso_Flexion_Extension_ServoValue_Conversion(servo_value) - joint_offset.torso_flexion_joint_offset;
            break;
        }
        //case 33:
        //{
            //joint_angle=Torso_Lateral_Flexion_Extension_ServoValue_Conversion(servo_value) - joint_offset.torso_lateral_flexion_joint_offset;
            //break;
        //}
        case 21:
        {
            joint_angle=Ankle_Inversion_Eversion_ServoValue_Conversion(id,servo_value) - joint_offset.feet_inversion_joint_offset_left;
            break;
        }
        case 22:
        {
            joint_angle=Ankle_Flexion_ServoValue_Conversion(id,servo_value) - joint_offset.feet_flexion_joint_offset_left;
            break;
        }
        case 32://alt
        {
            joint_angle=Knee_Flexion_ServoValue_Conversion(id,servo_value) - joint_offset.knee_flexion_joint_offset_left;
            break;
        }
        case 25:
        {
            joint_angle=Hip_Abduction_Hiperabduction_ServoValue_Conversion(id,servo_value) - joint_offset.hip_abduction_joint_offset_left;
            break;
        }
        case 26:
        {
            joint_angle=Hip_Flexion_ServoValue_Conversion(id,servo_value) - joint_offset.hip_flexion_joint_offset_left;
            break;
        }
        case 11:
        {
            joint_angle=Ankle_Inversion_Eversion_ServoValue_Conversion(id,servo_value) - joint_offset.feet_inversion_joint_offset_right;
            break;
        }
        case 12:
        {
            joint_angle=Ankle_Flexion_ServoValue_Conversion(id,servo_value) - joint_offset.feet_flexion_joint_offset_right;
            break;
        }
        case 13:
        {
            joint_angle=Knee_Flexion_ServoValue_Conversion(id,servo_value) - joint_offset.knee_flexion_joint_offset_right;
            break;
        }
        case 15:
        {
            joint_angle=Hip_Abduction_Hiperabduction_ServoValue_Conversion(id,servo_value) - joint_offset.hip_abduction_joint_offset_right;
            break;
        }
        case 16:
        {
            joint_angle=Hip_Flexion_ServoValue_Conversion(id,servo_value) - joint_offset.hip_flexion_joint_offset_right;
            break;
        }
        default:
        {
            joint_angle=0xFFFF;
            break;
        }
    }
    
    return joint_angle;
}


short unsigned int ServoHumanoid::Torso_Rotation_Movement(double joint_angle)
{
    short unsigned int move, resp = 65535;
    
    //   Motion range [-90...90] left to right
    //   Equivalent servo range [600...2400]
    
    // Check range of request
    if(joint_angle<robot_joint_limits.torso_min_rotation || joint_angle>robot_joint_limits.torso_max_rotation)
        return 0;
    
    //compute servo range output
    move = (robot_servo_conversion.torso_rotation_servo_offset+joint_angle*10.);
    
    resp = hitec->SetPosition(31,move);
    
    return resp;

}

short unsigned int ServoHumanoid::Torso_Flexion_Extension_Movement(double joint_angle)
{
    short unsigned int move, resp = 65535;
    
    //   Motion range [-15...90] left to right
    //   Equivalent servo range [600...2400]
    
    // Check range of request
    if(joint_angle<robot_joint_limits.torso_min_flexion || joint_angle>robot_joint_limits.torso_max_flexion)
        return 0;
    
    //compute servo range output
    move = (robot_servo_conversion.torso_flexion_servo_offset+joint_angle*10.);
    
    
    resp = hitec->SetPosition(23,move);//alt
    
    return resp;
    
}


short unsigned int ServoHumanoid::Torso_Lateral_Flexion_Extension_Movement(double joint_angle)
{
    short unsigned int move, resp = 65535;
    
    //   Motion range [-90...90] left to right
    //   Equivalent servo range [600...2400]
    
    // Check range of request
    if(joint_angle<robot_joint_limits.torso_min_lateral_flexion || joint_angle>robot_joint_limits.torso_max_lateral_flexion)
        return 0;
    
    //compute servo range output
    move = (robot_servo_conversion.torso_lateral_flexion_servo_offset+joint_angle*10.);
    
    resp = hitec->SetPosition(33,move);
    
    return resp;
    
}


short unsigned int ServoHumanoid::Ankle_Flexion_Movement(short int id, double joint_angle)
{
    short unsigned int move, resp = 65535;
    
    // Check range of request
    if(joint_angle<robot_joint_limits.ankle_min_flexion || joint_angle>robot_joint_limits.ankle_max_flexion)
        return 0;
    
    double sign;
    if(id== 22)
    {
        // LEFT
        //   Motion range [-40...20] inside to outside
        //   Equivalent servo range [600...2400]
        sign=(double) LEFT;
    }
    else if(id== 12)
    {
        // RIGHT
        //   Motion range [-40...20] inside to outside
        //   Equivalent servo range [2400...600]
        sign=(double) RIGHT;
    }
    else
        return resp;
    
    
    double b=1500.;
    
    if(joint_angle==0)
        move = 1500;
    else if(joint_angle<0)
    {
        //   Conversion
        double m=(1500.-600.)/(-robot_joint_limits.ankle_min_flexion);
        move = round(sign*(m*joint_angle)+b);
    }
    else
    {
        //   Conversion
        double m=(2400.-1500.)/(robot_joint_limits.ankle_max_flexion);
        move = round(sign*(m*joint_angle)+b);
    }
    
    resp = hitec->SetPosition(id,move);
    
    return resp;
}


short unsigned int ServoHumanoid::Ankle_Inversion_Eversion_Movement(short int id, double joint_angle)
{
    short unsigned int move, resp = 65535;
    
    // Check range of request
    //   Motion range [-30...45] inside to outside
    if(joint_angle<robot_joint_limits.ankle_min_inversion || joint_angle>robot_joint_limits.ankle_max_inversion)
        return 0;
    
    double sign;
    if(id==21)
    {
        // LEFT
        //   Equivalent servo range [600...2400]
        sign=(double) LEFT;
    }
    else if(id==11)
    {
        // RIGHT
        //   Equivalent servo range [2400...600]
        sign=(double) RIGHT;
    }
    else
        return resp;
    
    double b=1500.;
    
    //   Conversion
    if(joint_angle==0)
        move = 1500;
    else if(joint_angle<0)
    {
        double m=(1500.-600.)/(-robot_joint_limits.ankle_min_inversion);
        move = round(sign*(m*joint_angle)+b);
    }
    else
    {
        double m=(2400.-1500.)/(robot_joint_limits.ankle_max_inversion);
        move = round(sign*(m*joint_angle)+b);
    }
    
    resp = hitec->SetPosition(id,move);
    
    return resp;
}


short unsigned int ServoHumanoid::Knee_Movement(short int id, double joint_angle)
{
    short unsigned int move, resp = 65535;
    
  // Check range of request
  if(joint_angle<robot_joint_limits.knee_min_flexion || joint_angle>robot_joint_limits.knee_max_flexion)
    return 0;
  
//   //detected very high current consumption when knee is bellow 5degrees
//   if(joint_angle<=5.)
//     joint_angle=5.;
  
  double sign;
  double b;
  if(id==32)//alt
  {
    // LEFT
    //   Motion range [0...130] inside to outside
    //   Equivalent servo range [600...2400]
    b=robot_servo_conversion.knee_flexion_b_value_left;
    sign=(double) LEFT;
  }
  else if(id==13)
  {
    // RIGHT
    //   Motion range [0...130] inside to outside
    //   Equivalent servo range [2400...600]
    b=robot_servo_conversion.knee_flexion_b_value_right;
    sign=(double) RIGHT;
  }
  else
    return resp;
  
  //   Conversion
  double m=sign*(2400.-600.)/(robot_joint_limits.knee_max_flexion-robot_joint_limits.knee_min_flexion);
  move = round((m*joint_angle)+b);

  resp = hitec->SetPosition(id,move);

  return resp;
}


short unsigned int ServoHumanoid::Hip_Abduction_Hiperabduction_Movement(short int id, double joint_angle)
{
    short unsigned int move, resp = 65535;
    
  // this servo has a gain of 40/10 (pulley teeth)
  //TODO: set the angle conversion straight w_a = (N_b/N_a) * w_b
  
  // Check range of request
  if(joint_angle<robot_joint_limits.hip_min_abduction || joint_angle>robot_joint_limits.hip_max_abduction)
    return 0;
  
  double sign;
  if(id==25)
  {
    // LEFT
    //   Motion range [-40...45] inside to outside
    //   Equivalent servo range [2400...600]
    sign=(double) RIGHT;
  }
  else if(id==15)
  {
    // RIGHT
    //   Motion range [-40...45] inside to outside
    //   Equivalent servo range [2400...600]
    sign=(double) LEFT;
  }
  else
    return resp;
  
  double b=1500.;
  //   Conversion
  if(joint_angle==0)
    move = 1500;
  else if(joint_angle<0)
  {
    double m=900./(-robot_joint_limits.hip_min_abduction);
    move = round(sign*(m*joint_angle)+b);
  }
  else
  {
    double m=900./(robot_joint_limits.hip_max_abduction);
    move = round(sign*(m*joint_angle)+b);
  }

  resp = hitec->SetPosition(id,move);

  return resp;
}



short unsigned int ServoHumanoid::Hip_Flexion_Movement(short int id, double joint_angle)
{
    short unsigned int move, resp = 65535;
    
  // this servo has a gain of 30/22 (pulley teeth)
  //TODO: set the angle conversion straight
  
  // Check range of request
  if(joint_angle<robot_joint_limits.hip_min_flexion || joint_angle>robot_joint_limits.hip_max_flexion)
    return 0;
  
  double sign;
  double offset;
  if(id==26)
  {
    // LEFT
    //   Motion range [-30...120] inside to outside
    //   Equivalent servo range [600...2400]
    offset=robot_servo_conversion.hip_flexion_b_value_left;
    sign=(double) LEFT;
  }
  else if(id==16)
  {
    // RIGHT
    //   Motion range [-30...120] inside to outside
    //   Equivalent servo range [2400...600]
    offset=robot_servo_conversion.hip_flexion_b_value_right;
    sign=(double) RIGHT;
  }
  else
    return resp;
  
  //compute servo range output
  move = offset+sign*joint_angle*10.;


  resp = hitec->SetPosition(id,move);

  return resp;


}


double ServoHumanoid::Torso_Rotation_ServoValue_Conversion(short unsigned int servo_value)
{
  if(servo_value<595 || servo_value>2405)
  {
    return 0xFFFF;
  }
  //   Motion range [-90...90] left to right
  //   Equivalent servo range [600...2400]
  
  //compute servo range output
  return ((double)servo_value-robot_servo_conversion.torso_rotation_servo_offset)/10.;
}

double ServoHumanoid::Torso_Flexion_Extension_ServoValue_Conversion(short unsigned int servo_value)
{
  if(servo_value<595 || servo_value>2405)
  {
    return 0xFFFF;
  }
  //   Motion range [-15...90] left to right
  //   Equivalent servo range [600...2400]
  
  //compute servo range output
  return ((double)servo_value-robot_servo_conversion.torso_flexion_servo_offset)/10.;
}

double ServoHumanoid::Torso_Lateral_Flexion_Extension_ServoValue_Conversion(short unsigned int servo_value)
{
  if(servo_value<595 || servo_value>2405)
  {
    return 0xFFFF;
  }
  //   Motion range [-90...90] left to right
  //   Equivalent servo range [600...2400]
  
  //compute servo range output
  return ((double)servo_value-robot_servo_conversion.torso_lateral_flexion_servo_offset)/10.;
}



double ServoHumanoid::Ankle_Inversion_Eversion_ServoValue_Conversion(short int id, short unsigned int servo_value)
{
  // Check range of request
    if(servo_value<595 || servo_value>2405)
  {
    return 0xFFFF;
  }
  //   Motion range [-30...45] inside to outside
  
  if(servo_value==1500)
    return 0.;
  
  if(id==11)
  {
    // LEFT
    //   Equivalent servo range [600...2400]
    if(servo_value<1500)
    {
      return servo_value*(robot_joint_limits.ankle_max_inversion/-900.)-(robot_joint_limits.ankle_max_inversion/-900.)*1500.;
    }
    else
    {
      return servo_value*(robot_joint_limits.ankle_min_inversion/900.)-(robot_joint_limits.ankle_min_inversion/900.)*1500.;
    }
  }
  else if(id==21)
  {
    if(servo_value<1500)
    {
      return servo_value*(robot_joint_limits.ankle_min_inversion/-900.)-(robot_joint_limits.ankle_min_inversion/-900.)*1500.;
    }
    else
    {
      return servo_value*(robot_joint_limits.ankle_max_inversion/900.)-(robot_joint_limits.ankle_max_inversion/900.)*1500.;
    }
  }
  else
  {
    return 0xFFFF;
  }
}
    
double ServoHumanoid::Ankle_Flexion_ServoValue_Conversion(short int id, short unsigned int servo_value)
{
  // Check range of request
    if(servo_value<595 || servo_value>2405)
  {
    return 0xFFFF;
  }
  //   Motion range [-40...20] inside to outside
  
  if(servo_value==1500)
    return 0.;
  
  if(id==12)
  {
    // LEFT
    //   Equivalent servo range [600...2400]
    if(servo_value<1500)
    {
      return (double)servo_value*(robot_joint_limits.ankle_max_flexion/-900.)-(robot_joint_limits.ankle_max_flexion/-900.)*1500.;
    }
    else
    {
      return (double)servo_value*(robot_joint_limits.ankle_min_flexion/900.)-(robot_joint_limits.ankle_min_flexion/900.)*1500.;
    }
  }
  else if(id==22)
  {
    if(servo_value<1500)
    {
      return (double)servo_value*(robot_joint_limits.ankle_min_flexion/-900.)-(robot_joint_limits.ankle_min_flexion/-900.)*1500.;
    }
    else
    {
      return (double)servo_value*(robot_joint_limits.ankle_max_flexion/900.)-(robot_joint_limits.ankle_max_flexion/900.)*1500.;
    }
  }
  else
  {
    return 0xFFFF;
  }
}

double ServoHumanoid::Knee_Flexion_ServoValue_Conversion(short int id, short unsigned int servo_value)
{
  // Check range of request
    if(servo_value<595 || servo_value>2405)
  {
    return 0xFFFF;
  }
  
  double sign;
  if(id==32)//alt
  {
    // LEFT
    //   Motion range [0...130] inside to outside
    //   Equivalent servo range [600...2400]
    sign=(double) LEFT;
    return ((double)servo_value-robot_servo_conversion.knee_flexion_b_value_left)/(sign*(2400.-600.)/(robot_joint_limits.knee_max_flexion-robot_joint_limits.knee_min_flexion));
  }
  else if(id==13)
  {
    // RIGHT
    //   Motion range [0...130] inside to outside
    //   Equivalent servo range [2400...600]
    sign=(double) RIGHT;
    return ((double)servo_value-robot_servo_conversion.knee_flexion_b_value_right)/(sign*(2400.-600.)/(robot_joint_limits.knee_max_flexion-robot_joint_limits.knee_min_flexion));
  }
  else
    return 0xFFFF;
}

double ServoHumanoid::Hip_Abduction_Hiperabduction_ServoValue_Conversion(short int id, short unsigned int servo_value)
{
  // Check range of request
  if(servo_value<595 || servo_value>2405)
  {
    return 0xFFFF;
  }
  
  if(servo_value==1500)
    return 0.;
  
  double sign;
  if(id==25)
  {
    // LEFT
    //   Motion range [-40...45] inside to outside
    //   Equivalent servo range [2400...600]
    sign=(double) RIGHT;
    if(servo_value<1500)
    {
      double m=900./(-robot_joint_limits.hip_min_abduction);
      return ((double)servo_value-1500.)/(sign*m);
    }
    else
    {
      double m=900./(robot_joint_limits.hip_max_abduction);
      return ((double)servo_value-1500.)/(sign*m);
    }
  }
  else if(id==15)
  {
    // RIGHT
    //   Motion range [-40...45] inside to outside
    //   Equivalent servo range [2400...600]
    sign=(double) LEFT;
    if(servo_value<1500)
    {
      double m=900./(-robot_joint_limits.hip_min_abduction);
      return ((double)servo_value-1500.)/(sign*m);
    }
    else
    {
      double m=900./(robot_joint_limits.hip_max_abduction);
      return ((double)servo_value-1500.)/(sign*m);
    }
  }
  else
    return 0xFFFF;
}
    
double ServoHumanoid::Hip_Flexion_ServoValue_Conversion(short int id, short unsigned int servo_value)
{
  // Check range of request
  if(servo_value<595 || servo_value>2405)
  {
    return 0xFFFF;
  }
  
  double sign;
  double offset;
  if(id==26)
  {
    // LEFT
    //   Motion range [-30...120] inside to outside
    //   Equivalent servo range [600...2400]
    offset=robot_servo_conversion.hip_flexion_b_value_left;
    sign=(double) LEFT;
    if(servo_value==offset)
      return 0.;
  }
  else if(id==16)
  {
    // RIGHT
    //   Motion range [-30...120] inside to outside
    //   Equivalent servo range [2400...600]
    offset=robot_servo_conversion.hip_flexion_b_value_right;
    sign=(double) RIGHT;
    if(servo_value==offset)
      return 0.;
  }
  else
    return 0xFFFF;
  
  //compute servo range output
  return sign*((double)servo_value-offset)/10.;
}


//void ServoHumanoid::Inv_Kin_3DOF_Detached_Leg(double X, double Y, double Z, double *req_angle)
//{
  //double L1 = robot_dimensions.shin_length;
  //double L2 = robot_dimensions.thigh_length;
  //double z_clearance = robot_dimensions.ankle_height;

 
  //double A,q1,q2,q3;
  //double k1,k2,k3,kk_aux;
  
  
  //q1 = atan2(Y,(Z - z_clearance));
  
  //if((q1 > PI/4. && q1 < 3. * PI/4.) || (q1 <  - PI/4. && q1 >  - 3. * PI/4.))
      //A = Y/sin(q1);
  //else
      //A =  - (Z - z_clearance)/cos(q1);
  
  //k1 =  2. * L1 * X;
  //k2 =  - 2. * L1 * A;
  //k3 = pow(X,2.) + pow(A,2.) + pow(L1,2.) - pow(L2,2.);
  //kk_aux = pow(k1,2.) + pow(k2,2.) - pow(k3,2.);

  //if(kk_aux < 0.)
  //{
    //req_angle[0] = 1000.;
    //req_angle[1] = 1000.;
    //req_angle[2] = 1000.;
    //return;
  //}
  //q2 = atan2(k1,k2) + atan2(sqrt(pow(k1,2.) + pow(k2,2.) - pow(k3,2.)), k3);
    
  //if(q2 > PI)
    //q2 = q2 - 2. * PI;

  //if(q2 <  - PI)
    //q2 = q2 + 2. * PI;
    
  //k1 = 0.;
  //k2 = 2. * L1 * L2;
  //k3 = pow(X,2.) + pow(A,2.) - pow(L1,2.) - pow(L2,2.);
  //kk_aux = pow(k2,2.) - pow(k3,2.);

  //if(kk_aux < 0.)
  //{
    //req_angle[0] = 1000.;
    //req_angle[1] = 1000.;
    //req_angle[2] = 1000.;
    //return;
  //}
  //q3 = atan2(sqrt(pow(k2,2.) - pow(k3,2.)), k3);
  
  
  //if(!isnan(q1 * q2 * q3))
  //{
    
    //if(q1 >=(robot_joint_limits.ankle_min_inversion *PI/180.) && q1 <= (robot_joint_limits.ankle_max_inversion*PI/180.))
      //req_angle[0]=q1*180./PI;
    //else
      //req_angle[0] = 1000.;
    
    //if(q2 >=(robot_joint_limits.ankle_min_flexion *PI/180.) && q2 <= (robot_joint_limits.ankle_max_flexion*PI/180.))
      //req_angle[1]=q2*180./PI;
    //else
      //req_angle[1] = 1000.;
    
    //if(q3 >=robot_joint_limits.knee_min_flexion && q3 <= (robot_joint_limits.knee_max_flexion*PI/180.))
      //req_angle[2]=q3*180./PI;
    //else
      //req_angle[2] = 1000.;
    
    
    

    //return;
  //}
  //else
  //{
    //req_angle[0] = 1000.;
    //req_angle[1] = 1000.;
    //req_angle[2] = 1000.;
    //return;
  //}
//}

---

humanoid_control
Author(s): Emilio Estrelinha
autogenerated on Wed Jul 23 04:34:20 2014