control for robotic arm that can play chess using a granular gripper

Dependencies:   Encoder mbed HIDScope Servo MODSERIAL

Fork of chessRobot by a steenbeek

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