//----------  global varis for Rock steady, A.Pickel------------
//----------------last update  13.02.03------------------ 

#include "eyebot.h"
#include "fastmath.h"
#include "IRnokia.h"

#define SCALE 1
#define LEG_LEFT  MOTOR_FR
#define MOTOR_LR  MOTOR_BL
#define LEG_RIGHT MOTOR_FL

#define QUAD_LE QUAD_FR
#define QUAD_LR QUAD_BL
#define QUAD_RI QUAD_FL

extern QuadHandle	qH[];
extern MotorHandle	mH[];

extern double
        outp_l,
		outp_r ,
		outp_l_old,
		outp_r_old,
		p_hi_l,		// position hip left                              
		p_hi_r,		// position hip right
		p_hi_l_old,		// old position hip left                          ,
		p_hi_r_old;		// old position hip right

extern double			
	//----- Close loop control varis-----------
	o_r,	        // output right
	o_l,		// output left
	
	o_r_old,	// output right old
   	o_l_old,	// output left old

	s_l,		// speed left
	s_r,		// speed right

	e_s_l,		// speed error left
	e_s_r,		// speed error right

	e_s_l_old,	// speed error left old
	e_s_r_old,	// speed error right old

	p_l,		// position left
	p_r,		// position right

	p_l_old,	// position left old	
   	p_r_old,	// position right old

	w_s_l,		// desired speed left
	w_s_r,		// desired speed right

	w_p_l,		// desired position left
	w_p_r,		// desired position right

	Kp,		// controller p portion
	c_1,		// 1 + ( T / Tn )
	T,		// time period
	Ti,		// integral time

	e_pp,		// error position gain
	e_p_l, 		//error position
	e_p_r;		//error position right

void Reset();
void init();