Dammenisvoorcasuals
control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of
chessRobot
by 
a steenbeek
emg.h@92:12e2e57e900a, 2015-10-21 (annotated)
- Committer:
- bjornnijhuis
- Date:
- Wed Oct 21 10:28:42 2015 +0000
- Revision:
- 92:12e2e57e900a
- Parent:
- 80:8f030bd5dd15
Set EMG configuration to run before calibration of motors
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| bjornnijhuis | 75:9995528bf8b7 | 1 | #ifndef EMG_H |
| bjornnijhuis | 75:9995528bf8b7 | 2 | #define EMG_H |
| bjornnijhuis | 75:9995528bf8b7 | 3 | |
| bjornnijhuis | 75:9995528bf8b7 | 4 | #include "mbed.h" |
| bjornnijhuis | 75:9995528bf8b7 | 5 | #include "HIDScope.h" |
| bjornnijhuis | 75:9995528bf8b7 | 6 | #include "filter_constants.h" |
| annesteenbeek | 80:8f030bd5dd15 | 7 | #include "buttons.h" |
| bjornnijhuis | 75:9995528bf8b7 | 8 | |
| annesteenbeek | 80:8f030bd5dd15 | 9 | extern DigitalOut redLed; |
| annesteenbeek | 80:8f030bd5dd15 | 10 | extern DigitalOut greenLed; |
| annesteenbeek | 80:8f030bd5dd15 | 11 | extern DigitalOut blueLed; |
| annesteenbeek | 80:8f030bd5dd15 | 12 | |
| bjornnijhuis | 92:12e2e57e900a | 13 | extern const int normalize; |
| bjornnijhuis | 92:12e2e57e900a | 14 | extern const int sample; |
| bjornnijhuis | 92:12e2e57e900a | 15 | extern bool emg_mode; |
| bjornnijhuis | 92:12e2e57e900a | 16 | |
| annesteenbeek | 80:8f030bd5dd15 | 17 | extern const double sample_frequency; |
| bjornnijhuis | 75:9995528bf8b7 | 18 | |
| bjornnijhuis | 75:9995528bf8b7 | 19 | extern const int normalize_time; |
| bjornnijhuis | 75:9995528bf8b7 | 20 | extern const int normalize_wait; |
| bjornnijhuis | 75:9995528bf8b7 | 21 | |
| bjornnijhuis | 75:9995528bf8b7 | 22 | extern const double UPT; |
| bjornnijhuis | 75:9995528bf8b7 | 23 | extern const double LPT; |
| bjornnijhuis | 75:9995528bf8b7 | 24 | extern const double LST; |
| bjornnijhuis | 75:9995528bf8b7 | 25 | extern const double UST; |
| bjornnijhuis | 75:9995528bf8b7 | 26 | |
| bjornnijhuis | 75:9995528bf8b7 | 27 | extern double f11_v1, f11_v2, f12_v1, f12_v2, f13_v1, f13_v2; |
| bjornnijhuis | 75:9995528bf8b7 | 28 | extern double f11_v1b, f11_v2b, f12_v1b, f12_v2b, f13_v1b, f13_v2b; |
| bjornnijhuis | 75:9995528bf8b7 | 29 | extern const double f11_gain, f11_a1, f11_a2, f11_b0, f11_b1, f11_b2; |
| bjornnijhuis | 75:9995528bf8b7 | 30 | extern const double f12_gain, f12_a1, f12_a2, f12_b0, f12_b1, f12_b2; |
| bjornnijhuis | 75:9995528bf8b7 | 31 | extern const double f13_gain, f13_a1, f13_a2, f13_b0, f13_b1, f13_b2; |
| bjornnijhuis | 75:9995528bf8b7 | 32 | |
| bjornnijhuis | 75:9995528bf8b7 | 33 | extern double f21_v1, f21_v2, f22_v1, f22_v2, f23_v1, f23_v2; |
| bjornnijhuis | 75:9995528bf8b7 | 34 | extern double f21_v1b, f21_v2b, f22_v1b, f22_v2b, f23_v1b, f23_v2b; |
| bjornnijhuis | 75:9995528bf8b7 | 35 | extern const double f21_gain, f21_a1, f21_a2, f21_b0, f21_b1, f21_b2; |
| bjornnijhuis | 75:9995528bf8b7 | 36 | extern const double f22_gain, f22_a1, f22_a2, f22_b0, f22_b1, f22_b2; |
| bjornnijhuis | 75:9995528bf8b7 | 37 | extern const double f23_gain, f23_a1, f23_a2, f23_b0, f23_b1, f23_b2; |
| bjornnijhuis | 75:9995528bf8b7 | 38 | |
| bjornnijhuis | 75:9995528bf8b7 | 39 | extern double f31_v1, f31_v2, f32_v1, f32_v2, f33_v1, f33_v2; |
| bjornnijhuis | 75:9995528bf8b7 | 40 | extern double f31_v1b, f31_v2b, f32_v1b, f32_v2b, f33_v1b, f33_v2b; |
| bjornnijhuis | 75:9995528bf8b7 | 41 | extern const double f31_gain, f31_a1, f31_a2, f31_b0, f31_b1, f31_b2; |
| bjornnijhuis | 75:9995528bf8b7 | 42 | extern const double f32_gain, f32_a1, f32_a2, f32_b0, f32_b1, f32_b2; |
| bjornnijhuis | 75:9995528bf8b7 | 43 | extern const double f33_gain, f33_a1, f33_a2, f33_b0, f33_b1, f33_b2; |
| bjornnijhuis | 75:9995528bf8b7 | 44 | |
| bjornnijhuis | 75:9995528bf8b7 | 45 | extern double a11_v1, a11_v2, a12_v1, a12_v2, a13_v1, a13_v2; |
| bjornnijhuis | 75:9995528bf8b7 | 46 | extern double a11_v1b, a11_v2b, a12_v1b, a12_v2b, a13_v1b, a13_v2b; |
| bjornnijhuis | 75:9995528bf8b7 | 47 | extern const double a11_gain, a11_a1, a11_a2, a11_b0, a11_b1, a11_b2; |
| bjornnijhuis | 75:9995528bf8b7 | 48 | extern const double a12_gain, a12_a1, a12_a2, a12_b0, a12_b1, a12_b2; |
| bjornnijhuis | 75:9995528bf8b7 | 49 | extern const double a13_gain, a13_a1, a13_a2, a13_b0, a13_b1, a13_b2; |
| bjornnijhuis | 75:9995528bf8b7 | 50 | |
| bjornnijhuis | 92:12e2e57e900a | 51 | |
| bjornnijhuis | 75:9995528bf8b7 | 52 | void readEMG(); |
| bjornnijhuis | 75:9995528bf8b7 | 53 | #endif |