control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
Diff: emg.h
- Revision:
- 98:25528494287d
- Parent:
- 80:8f030bd5dd15
- Child:
- 99:7030e9790b1d
diff -r f0ae582fa3e1 -r 25528494287d emg.h --- a/emg.h Thu Oct 22 07:16:59 2015 +0000 +++ b/emg.h Thu Oct 22 10:06:46 2015 +0200 @@ -1,48 +1,53 @@ #ifndef EMG_H #define EMG_H -#include "mbed.h" -#include "HIDScope.h" -#include "filter_constants.h" -#include "buttons.h" + #include "mbed.h" + #include "HIDScope.h" + #include "filter_constants.h" + #include "buttons.h" -extern DigitalOut redLed; -extern DigitalOut greenLed; -extern DigitalOut blueLed; + extern DigitalOut redLed; + extern DigitalOut greenLed; + extern DigitalOut blueLed; -extern const double sample_frequency; + extern const int sample; // Constant for mode switching for program readability + extern const int normalize; // Constant for mode switching for program readability + extern bool mode; // Set program mode -extern const int normalize_time; -extern const int normalize_wait; + + extern const double sample_frequency; -extern const double UPT; -extern const double LPT; -extern const double LST; -extern const double UST; + extern const int normalize_time; + extern const int normalize_wait; + + extern const double UPT; + extern const double LPT; + extern const double LST; + extern const double UST; -extern double f11_v1, f11_v2, f12_v1, f12_v2, f13_v1, f13_v2; -extern double f11_v1b, f11_v2b, f12_v1b, f12_v2b, f13_v1b, f13_v2b; -extern const double f11_gain, f11_a1, f11_a2, f11_b0, f11_b1, f11_b2; -extern const double f12_gain, f12_a1, f12_a2, f12_b0, f12_b1, f12_b2; -extern const double f13_gain, f13_a1, f13_a2, f13_b0, f13_b1, f13_b2; + extern double f11_v1, f11_v2, f12_v1, f12_v2, f13_v1, f13_v2; + extern double f11_v1b, f11_v2b, f12_v1b, f12_v2b, f13_v1b, f13_v2b; + extern const double f11_gain, f11_a1, f11_a2, f11_b0, f11_b1, f11_b2; + extern const double f12_gain, f12_a1, f12_a2, f12_b0, f12_b1, f12_b2; + extern const double f13_gain, f13_a1, f13_a2, f13_b0, f13_b1, f13_b2; -extern double f21_v1, f21_v2, f22_v1, f22_v2, f23_v1, f23_v2; -extern double f21_v1b, f21_v2b, f22_v1b, f22_v2b, f23_v1b, f23_v2b; -extern const double f21_gain, f21_a1, f21_a2, f21_b0, f21_b1, f21_b2; -extern const double f22_gain, f22_a1, f22_a2, f22_b0, f22_b1, f22_b2; -extern const double f23_gain, f23_a1, f23_a2, f23_b0, f23_b1, f23_b2; + extern double f21_v1, f21_v2, f22_v1, f22_v2, f23_v1, f23_v2; + extern double f21_v1b, f21_v2b, f22_v1b, f22_v2b, f23_v1b, f23_v2b; + extern const double f21_gain, f21_a1, f21_a2, f21_b0, f21_b1, f21_b2; + extern const double f22_gain, f22_a1, f22_a2, f22_b0, f22_b1, f22_b2; + extern const double f23_gain, f23_a1, f23_a2, f23_b0, f23_b1, f23_b2; -extern double f31_v1, f31_v2, f32_v1, f32_v2, f33_v1, f33_v2; -extern double f31_v1b, f31_v2b, f32_v1b, f32_v2b, f33_v1b, f33_v2b; -extern const double f31_gain, f31_a1, f31_a2, f31_b0, f31_b1, f31_b2; -extern const double f32_gain, f32_a1, f32_a2, f32_b0, f32_b1, f32_b2; -extern const double f33_gain, f33_a1, f33_a2, f33_b0, f33_b1, f33_b2; + extern double f31_v1, f31_v2, f32_v1, f32_v2, f33_v1, f33_v2; + extern double f31_v1b, f31_v2b, f32_v1b, f32_v2b, f33_v1b, f33_v2b; + extern const double f31_gain, f31_a1, f31_a2, f31_b0, f31_b1, f31_b2; + extern const double f32_gain, f32_a1, f32_a2, f32_b0, f32_b1, f32_b2; + extern const double f33_gain, f33_a1, f33_a2, f33_b0, f33_b1, f33_b2; -extern double a11_v1, a11_v2, a12_v1, a12_v2, a13_v1, a13_v2; -extern double a11_v1b, a11_v2b, a12_v1b, a12_v2b, a13_v1b, a13_v2b; -extern const double a11_gain, a11_a1, a11_a2, a11_b0, a11_b1, a11_b2; -extern const double a12_gain, a12_a1, a12_a2, a12_b0, a12_b1, a12_b2; -extern const double a13_gain, a13_a1, a13_a2, a13_b0, a13_b1, a13_b2; + extern double a11_v1, a11_v2, a12_v1, a12_v2, a13_v1, a13_v2; + extern double a11_v1b, a11_v2b, a12_v1b, a12_v2b, a13_v1b, a13_v2b; + extern const double a11_gain, a11_a1, a11_a2, a11_b0, a11_b1, a11_b2; + extern const double a12_gain, a12_a1, a12_a2, a12_b0, a12_b1, a12_b2; + extern const double a13_gain, a13_a1, a13_a2, a13_b0, a13_b1, a13_b2; -void readEMG(); + void readEMG(); #endif