Upon completion of the data sensor we needed to find a way to combine the PID control with the data sensor. This was achieved by taking the output of the data sensor and inputting it into the control loop. This type of control allows for the prosthetic foot to change position based on the previous position of the prosthetic foot using the data sensor.

After we fine tuned and modified our software we then decided to make a few minor changes to the model so that the movements were smoother. This also reduced strain on the micro servo motors that we were using in our model.