Dammenisvoorcasuals / Mbed 2 deprecated chessRobot

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@130:2542f844ba1e, 2015-10-30 (annotated)

Committer:
annesteenbeek
Date:
Fri Oct 30 10:32:49 2015 +0100
Revision:
130:2542f844ba1e
Parent:
99:7030e9790b1d 
changes

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bjornnijhuis 75:9995528bf8b7 1 #ifndef EMG_H
bjornnijhuis 75:9995528bf8b7 2 #define EMG_H
bjornnijhuis 75:9995528bf8b7 3
annesteenbeek 99:7030e9790b1d 4 #include "mbed.h"
annesteenbeek 99:7030e9790b1d 5 #include "HIDScope.h"
annesteenbeek 99:7030e9790b1d 6 #include "filter_constants.h"
annesteenbeek 99:7030e9790b1d 7 #include "buttons.h"
bjornnijhuis 75:9995528bf8b7 8
annesteenbeek 99:7030e9790b1d 9 extern DigitalOut redLed;
annesteenbeek 99:7030e9790b1d 10 extern DigitalOut greenLed;
annesteenbeek 99:7030e9790b1d 11 extern DigitalOut blueLed;
annesteenbeek 80:8f030bd5dd15 12
annesteenbeek 99:7030e9790b1d 13 extern const int sample; // Constant for mode switching for program readability
annesteenbeek 99:7030e9790b1d 14 extern const int normalize; // Constant for mode switching for program readability
annesteenbeek 99:7030e9790b1d 15 extern bool mode; // Set program mode
bjornnijhuis 75:9995528bf8b7 16
annesteenbeek 98:25528494287d 17
annesteenbeek 99:7030e9790b1d 18 extern const double sample_frequency;
bjornnijhuis 75:9995528bf8b7 19
annesteenbeek 99:7030e9790b1d 20 extern const int normalize_time;
annesteenbeek 99:7030e9790b1d 21 extern const int normalize_wait;
annesteenbeek 98:25528494287d 22
annesteenbeek 99:7030e9790b1d 23 extern const double UPT;
annesteenbeek 99:7030e9790b1d 24 extern const double LPT;
annesteenbeek 99:7030e9790b1d 25 extern const double LST;
annesteenbeek 99:7030e9790b1d 26 extern const double UST;
bjornnijhuis 75:9995528bf8b7 27
annesteenbeek 99:7030e9790b1d 28 extern double f11_v1, f11_v2, f12_v1, f12_v2, f13_v1, f13_v2;
annesteenbeek 99:7030e9790b1d 29 extern double f11_v1b, f11_v2b, f12_v1b, f12_v2b, f13_v1b, f13_v2b;
annesteenbeek 99:7030e9790b1d 30 extern const double f11_gain, f11_a1, f11_a2, f11_b0, f11_b1, f11_b2;
annesteenbeek 99:7030e9790b1d 31 extern const double f12_gain, f12_a1, f12_a2, f12_b0, f12_b1, f12_b2;
annesteenbeek 99:7030e9790b1d 32 extern const double f13_gain, f13_a1, f13_a2, f13_b0, f13_b1, f13_b2;
bjornnijhuis 75:9995528bf8b7 33
annesteenbeek 99:7030e9790b1d 34 extern double f21_v1, f21_v2, f22_v1, f22_v2, f23_v1, f23_v2;
annesteenbeek 99:7030e9790b1d 35 extern double f21_v1b, f21_v2b, f22_v1b, f22_v2b, f23_v1b, f23_v2b;
annesteenbeek 99:7030e9790b1d 36 extern const double f21_gain, f21_a1, f21_a2, f21_b0, f21_b1, f21_b2;
annesteenbeek 99:7030e9790b1d 37 extern const double f22_gain, f22_a1, f22_a2, f22_b0, f22_b1, f22_b2;
annesteenbeek 99:7030e9790b1d 38 extern const double f23_gain, f23_a1, f23_a2, f23_b0, f23_b1, f23_b2;
bjornnijhuis 75:9995528bf8b7 39
annesteenbeek 99:7030e9790b1d 40 extern double f31_v1, f31_v2, f32_v1, f32_v2, f33_v1, f33_v2;
annesteenbeek 99:7030e9790b1d 41 extern double f31_v1b, f31_v2b, f32_v1b, f32_v2b, f33_v1b, f33_v2b;
annesteenbeek 99:7030e9790b1d 42 extern const double f31_gain, f31_a1, f31_a2, f31_b0, f31_b1, f31_b2;
annesteenbeek 99:7030e9790b1d 43 extern const double f32_gain, f32_a1, f32_a2, f32_b0, f32_b1, f32_b2;
annesteenbeek 99:7030e9790b1d 44 extern const double f33_gain, f33_a1, f33_a2, f33_b0, f33_b1, f33_b2;
bjornnijhuis 75:9995528bf8b7 45
annesteenbeek 99:7030e9790b1d 46 extern double a11_v1, a11_v2, a12_v1, a12_v2, a13_v1, a13_v2;
annesteenbeek 99:7030e9790b1d 47 extern double a11_v1b, a11_v2b, a12_v1b, a12_v2b, a13_v1b, a13_v2b;
annesteenbeek 99:7030e9790b1d 48 extern const double a11_gain, a11_a1, a11_a2, a11_b0, a11_b1, a11_b2;
annesteenbeek 99:7030e9790b1d 49 extern const double a12_gain, a12_a1, a12_a2, a12_b0, a12_b1, a12_b2;
annesteenbeek 99:7030e9790b1d 50 extern const double a13_gain, a13_a1, a13_a2, a13_b0, a13_b1, a13_b2;
bjornnijhuis 75:9995528bf8b7 51
annesteenbeek 99:7030e9790b1d 52 void readEMG();
bjornnijhuis 75:9995528bf8b7 53 #endif