Jesse Kaiser / Mbed 2 deprecated EMGcontrol_XY_Table

4 directional EMG control of the XY table. Made during my bachelor end assignment.

Dependencies:   C12832_lcd HIDScope mbed-dsp mbed

main.cpp@61:99f3ae6e053b, 2015-06-17 (annotated)

Committer:
jessekaiser
Date:
Wed Jun 17 10:09:51 2015 +0000
Revision:
61:99f3ae6e053b
Parent:
60:664f9b907c02
Child:
62:509622cce1c6
Testen van homing;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jessekaiser 56:6ea03cce1175 1 /*Code by Jesse Kaiser, s1355783 for control of the 2DOF Planar Table
jessekaiser 56:6ea03cce1175 2 Some variables are also numbered at the end. The numbers stands for the muscle that controls it.
jessekaiser 56:6ea03cce1175 3 Biceps = 1
jessekaiser 56:6ea03cce1175 4 Triceps = 2
jessekaiser 56:6ea03cce1175 5 Pectoralis Major = 3
jessekaiser 56:6ea03cce1175 6 Deltoid = 4
jessekaiser 56:6ea03cce1175 7 The "x" and "y" at the end of variables stand for the X-Spindle or Y-Spindle respectivly.
jessekaiser 56:6ea03cce1175 8 */
jessekaiser 56:6ea03cce1175 9
jessekaiser 0:3acdd563582f 10 #include "mbed.h"
jessekaiser 10:7f94cd65c910 11 #include "C12832_lcd.h"
jessekaiser 56:6ea03cce1175 12 #include "arm_math.h"
jessekaiser 57:0a278c60d28b 13 //#include "HIDScope.h"
jessekaiser 0:3acdd563582f 14
jessekaiser 60:664f9b907c02 15 #define K_Gain 50 //Gain of the filtered EMG signal
jessekaiser 56:6ea03cce1175 16 #define Damp 5 //Deceleration of the motor
jessekaiser 56:6ea03cce1175 17 #define Mass 1 // Mass value
jessekaiser 60:664f9b907c02 18 #define dt 0.01 //Sample frequency
jessekaiser 60:664f9b907c02 19 #define MAX_bi 0.40 //Can be used for normalisation of the EMG signal of the biceps
jessekaiser 60:664f9b907c02 20 #define MAX_tri 0.60
jessekaiser 60:664f9b907c02 21 #define MAX_pect 0.48
jessekaiser 60:664f9b907c02 22 #define MAX_delt 1.07
jessekaiser 60:664f9b907c02 23 #define EMG_tresh1 0.02
jessekaiser 60:664f9b907c02 24 #define EMG_tresh2 0.02
jessekaiser 60:664f9b907c02 25 #define EMG_tresh3 0.01
jessekaiser 60:664f9b907c02 26 #define EMG_tresh4 0.01
jessekaiser 61:99f3ae6e053b 27 #define H_Gain 5
jessekaiser 61:99f3ae6e053b 28 #define Pt_x 0.83
jessekaiser 61:99f3ae6e053b 29 #define Pt_y 0.25
jessekaiser 31:372ff8d49430 30
jessekaiser 56:6ea03cce1175 31 //Motor control
jessekaiser 56:6ea03cce1175 32 DigitalOut Dirx(p21);
jessekaiser 56:6ea03cce1175 33 PwmOut Stepx(p22);
jessekaiser 56:6ea03cce1175 34 DigitalOut Diry(p23);
jessekaiser 56:6ea03cce1175 35 PwmOut Stepy(p24);
jessekaiser 56:6ea03cce1175 36
jessekaiser 56:6ea03cce1175 37 //Signal to and from computer
jessekaiser 56:6ea03cce1175 38 Serial pc(USBTX, USBRX);
jessekaiser 56:6ea03cce1175 39
jessekaiser 56:6ea03cce1175 40 //Position sensors
jessekaiser 56:6ea03cce1175 41 AnalogIn Posx(p19);
jessekaiser 58:3ea066215c31 42 AnalogIn Posy(p20);
jessekaiser 58:3ea066215c31 43 DigitalOut Enablex(p25);
jessekaiser 58:3ea066215c31 44 DigitalOut Enabley(p26);
jessekaiser 56:6ea03cce1175 45
jessekaiser 56:6ea03cce1175 46 //Microstepping
jessekaiser 0:3acdd563582f 47 DigitalOut MS1(p27);
jessekaiser 0:3acdd563582f 48 DigitalOut MS2(p28);
jessekaiser 0:3acdd563582f 49 DigitalOut MS3(p29);
jessekaiser 56:6ea03cce1175 50
jessekaiser 57:0a278c60d28b 51 //EMG inputs
jessekaiser 56:6ea03cce1175 52 AnalogIn emg1(p15); //EMG bordje bovenop, biceps
jessekaiser 56:6ea03cce1175 53 AnalogIn emg2(p16); //triceps
jessekaiser 56:6ea03cce1175 54 AnalogIn emg3(p17);
jessekaiser 56:6ea03cce1175 55 AnalogIn emg4(p18);
jessekaiser 56:6ea03cce1175 56
jessekaiser 57:0a278c60d28b 57 //HIDScope scope(4);
jessekaiser 57:0a278c60d28b 58 //Ticker scopeTimer;
jessekaiser 56:6ea03cce1175 59
jessekaiser 56:6ea03cce1175 60 //lcd
jessekaiser 30:0a8f849e0292 61 C12832_LCD lcd;
jessekaiser 0:3acdd563582f 62
jessekaiser 56:6ea03cce1175 63 //Variables for motor control
jessekaiser 60:664f9b907c02 64 float setpoint = 2000; //Frequentie setpoint
jessekaiser 56:6ea03cce1175 65 float step_freq1 = 1;
jessekaiser 56:6ea03cce1175 66 float step_freq2 = 1;
jessekaiser 56:6ea03cce1175 67 float step_freq3 = 1;
jessekaiser 56:6ea03cce1175 68 float step_freq4 = 1;
jessekaiser 56:6ea03cce1175 69
jessekaiser 56:6ea03cce1175 70 //EMG filter
jessekaiser 56:6ea03cce1175 71 arm_biquad_casd_df1_inst_f32 lowpass_biceps;
jessekaiser 56:6ea03cce1175 72 arm_biquad_casd_df1_inst_f32 lowpass_triceps;
jessekaiser 56:6ea03cce1175 73 arm_biquad_casd_df1_inst_f32 lowpass_pect;
jessekaiser 56:6ea03cce1175 74 arm_biquad_casd_df1_inst_f32 lowpass_deltoid;
jessekaiser 56:6ea03cce1175 75 //lowpass filter settings: Fc = 2 Hz, Fs = 500 Hz, Gain = -3 dB
jessekaiser 56:6ea03cce1175 76 float lowpass_const[] = {0.00015514839749793376, 0.00031029679499586753, 0.00015514839749793376, 1.9644602512795832, -0.9650808448695751};
jessekaiser 56:6ea03cce1175 77 arm_biquad_casd_df1_inst_f32 highnotch_biceps;
jessekaiser 56:6ea03cce1175 78 arm_biquad_casd_df1_inst_f32 highnotch_triceps;
jessekaiser 56:6ea03cce1175 79 arm_biquad_casd_df1_inst_f32 highnotch_pect;
jessekaiser 56:6ea03cce1175 80 arm_biquad_casd_df1_inst_f32 highnotch_deltoid;
jessekaiser 56:6ea03cce1175 81 //highpass filter settings: Fc = 20 Hz, Fs = 500 Hz, notch Fc = 50, Fs = 500 Hz
jessekaiser 56:6ea03cce1175 82 float highnotch_const[] = {0.8370879899975344, -1.6741759799950688, 0.8370879899975344, 1.6474576182593796, -0.7008943417307579, 0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533};
jessekaiser 56:6ea03cce1175 83
jessekaiser 56:6ea03cce1175 84 //state values
jessekaiser 56:6ea03cce1175 85 float lowpass_biceps_states[4];
jessekaiser 56:6ea03cce1175 86 float highnotch_biceps_states[8];
jessekaiser 56:6ea03cce1175 87 float lowpass_triceps_states[4];
jessekaiser 56:6ea03cce1175 88 float highnotch_triceps_states[8];
jessekaiser 56:6ea03cce1175 89 float lowpass_pect_states[4];
jessekaiser 56:6ea03cce1175 90 float highnotch_pect_states[8];
jessekaiser 56:6ea03cce1175 91 float lowpass_deltoid_states[4];
jessekaiser 56:6ea03cce1175 92 float highnotch_deltoid_states[8];
jessekaiser 56:6ea03cce1175 93
jessekaiser 56:6ea03cce1175 94 //global variabels
jessekaiser 56:6ea03cce1175 95 float filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid;
jessekaiser 56:6ea03cce1175 96 float speed_old1, speed_old2, speed_old3, speed_old4;
jessekaiser 56:6ea03cce1175 97 float acc1, acc2, acc3, acc4;
jessekaiser 56:6ea03cce1175 98 float force1, force2, force3, force4;
jessekaiser 56:6ea03cce1175 99 float speed1, speed2, speed3, speed4;
jessekaiser 56:6ea03cce1175 100 float damping1, damping2, damping3, damping4;
jessekaiser 60:664f9b907c02 101 float emg_x, emg_y;
jessekaiser 61:99f3ae6e053b 102 float cx = 0;
jessekaiser 61:99f3ae6e053b 103 float cy = 0;
jessekaiser 61:99f3ae6e053b 104 float errorx = 0.2;
jessekaiser 61:99f3ae6e053b 105 float errory = 0.2;
jessekaiser 61:99f3ae6e053b 106 float Ps_x = 0;
jessekaiser 61:99f3ae6e053b 107 float Ps_y = 0;
jessekaiser 56:6ea03cce1175 108
jessekaiser 56:6ea03cce1175 109 void looper_emg()
jessekaiser 56:6ea03cce1175 110 {
jessekaiser 56:6ea03cce1175 111 float emg_value1_f32, emg_value2_f32, emg_value3_f32, emg_value4_f32;
jessekaiser 56:6ea03cce1175 112 emg_value1_f32 = emg1.read();
jessekaiser 56:6ea03cce1175 113 emg_value2_f32 = emg2.read();
jessekaiser 56:6ea03cce1175 114 emg_value3_f32 = emg3.read();
jessekaiser 56:6ea03cce1175 115 emg_value4_f32 = emg4.read();
jessekaiser 56:6ea03cce1175 116
jessekaiser 56:6ea03cce1175 117 //process emg biceps
jessekaiser 56:6ea03cce1175 118 arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 ); //High pass and notch filter
jessekaiser 60:664f9b907c02 119 filtered_biceps = fabs(filtered_biceps); //Rectifier, The Gain is already implemented.
jessekaiser 56:6ea03cce1175 120 arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 ); //low pass filter
jessekaiser 56:6ea03cce1175 121
jessekaiser 56:6ea03cce1175 122 //process emg triceps
jessekaiser 56:6ea03cce1175 123 arm_biquad_cascade_df1_f32(&highnotch_triceps, &emg_value2_f32, &filtered_triceps, 1 );
jessekaiser 60:664f9b907c02 124 filtered_triceps = fabs(filtered_triceps);
jessekaiser 56:6ea03cce1175 125 arm_biquad_cascade_df1_f32(&lowpass_triceps, &filtered_triceps, &filtered_triceps, 1 );
jessekaiser 56:6ea03cce1175 126
jessekaiser 56:6ea03cce1175 127 //process emg pectoralis major
jessekaiser 56:6ea03cce1175 128 arm_biquad_cascade_df1_f32(&highnotch_pect, &emg_value3_f32, &filtered_pect, 1 );
jessekaiser 60:664f9b907c02 129 filtered_pect = fabs(filtered_pect);
jessekaiser 56:6ea03cce1175 130 arm_biquad_cascade_df1_f32(&lowpass_pect, &filtered_pect, &filtered_pect, 1 );
jessekaiser 56:6ea03cce1175 131
jessekaiser 56:6ea03cce1175 132 //process emg deltoid
jessekaiser 56:6ea03cce1175 133 arm_biquad_cascade_df1_f32(&highnotch_deltoid, &emg_value4_f32, &filtered_deltoid, 1 );
jessekaiser 60:664f9b907c02 134 filtered_deltoid = fabs(filtered_deltoid);
jessekaiser 56:6ea03cce1175 135 arm_biquad_cascade_df1_f32(&lowpass_deltoid, &filtered_deltoid, &filtered_deltoid, 1 );
jessekaiser 56:6ea03cce1175 136
jessekaiser 58:3ea066215c31 137 /*send value to PC.
jessekaiser 56:6ea03cce1175 138 scope.set(0,filtered_biceps); //Filtered EMG signal
jessekaiser 56:6ea03cce1175 139 scope.set(1,filtered_triceps);
jessekaiser 56:6ea03cce1175 140 scope.set(2,filtered_pect);
jessekaiser 57:0a278c60d28b 141 scope.set(3,filtered_deltoid);*/
jessekaiser 56:6ea03cce1175 142 }
jessekaiser 56:6ea03cce1175 143
jessekaiser 60:664f9b907c02 144 void looper_motory()
jessekaiser 60:664f9b907c02 145 {
jessekaiser 60:664f9b907c02 146 emg_y = fabs(filtered_biceps - filtered_triceps);
jessekaiser 60:664f9b907c02 147 force1 = emg_y*K_Gain;
jessekaiser 60:664f9b907c02 148 force1 = force1 - damping1;
jessekaiser 60:664f9b907c02 149 acc1 = force1/Mass;
jessekaiser 60:664f9b907c02 150 speed1 = speed_old1 + (acc1 * dt);
jessekaiser 60:664f9b907c02 151 damping1 = speed1 * Damp;
jessekaiser 60:664f9b907c02 152 step_freq1 = setpoint * speed1;
jessekaiser 60:664f9b907c02 153 Stepy.period(1.0/step_freq1);
jessekaiser 60:664f9b907c02 154 speed_old1 = speed1;
jessekaiser 60:664f9b907c02 155
jessekaiser 60:664f9b907c02 156
jessekaiser 60:664f9b907c02 157 if (emg_y > 0 || Posy < 0.20) {
jessekaiser 60:664f9b907c02 158 Diry = 1;
jessekaiser 60:664f9b907c02 159 }
jessekaiser 60:664f9b907c02 160
jessekaiser 60:664f9b907c02 161 if (emg_y < 0 || Posy > 0.70) {
jessekaiser 60:664f9b907c02 162 Diry = 0;
jessekaiser 60:664f9b907c02 163 }
jessekaiser 60:664f9b907c02 164 //Speed limit
jessekaiser 60:664f9b907c02 165 if (speed1 > 1) {
jessekaiser 60:664f9b907c02 166 speed1 = 1;
jessekaiser 60:664f9b907c02 167 step_freq1 = setpoint;
jessekaiser 60:664f9b907c02 168 }
jessekaiser 60:664f9b907c02 169 //EMG treshold
jessekaiser 60:664f9b907c02 170 if (filtered_biceps < EMG_tresh1 && filtered_triceps < EMG_tresh2) {
jessekaiser 60:664f9b907c02 171 Enabley = 1; //Enable = 1 turns the motor off.
jessekaiser 60:664f9b907c02 172 } else {
jessekaiser 60:664f9b907c02 173 Enabley = 0;
jessekaiser 60:664f9b907c02 174 }
jessekaiser 60:664f9b907c02 175
jessekaiser 60:664f9b907c02 176 }
jessekaiser 60:664f9b907c02 177
jessekaiser 60:664f9b907c02 178 void looper_motorx()
jessekaiser 60:664f9b907c02 179 {
jessekaiser 60:664f9b907c02 180 emg_x = fabs(filtered_pect - filtered_deltoid);
jessekaiser 60:664f9b907c02 181 force2 = emg_x*K_Gain;
jessekaiser 60:664f9b907c02 182 force2 = force2 - damping2;
jessekaiser 60:664f9b907c02 183 acc2 = force2/Mass;
jessekaiser 60:664f9b907c02 184 speed2 = speed_old2 + (acc2 * dt);
jessekaiser 60:664f9b907c02 185 damping2 = speed2 * Damp;
jessekaiser 60:664f9b907c02 186 step_freq2 = setpoint * speed2;
jessekaiser 60:664f9b907c02 187 Stepx.period(1.0/step_freq2);
jessekaiser 60:664f9b907c02 188 speed_old2 = speed2;
jessekaiser 60:664f9b907c02 189
jessekaiser 60:664f9b907c02 190 if (emg_x > 0 || Posx < 0.30) {
jessekaiser 60:664f9b907c02 191 Dirx = 0;
jessekaiser 60:664f9b907c02 192 }
jessekaiser 60:664f9b907c02 193 if (emg_x < 0 || Posx > 0.86) {
jessekaiser 60:664f9b907c02 194 Dirx = 1;
jessekaiser 60:664f9b907c02 195 }
jessekaiser 60:664f9b907c02 196 //Speed limit
jessekaiser 60:664f9b907c02 197 if (speed2 > 1) {
jessekaiser 60:664f9b907c02 198 speed2 = 1;
jessekaiser 60:664f9b907c02 199 step_freq2 = setpoint;
jessekaiser 60:664f9b907c02 200 }
jessekaiser 60:664f9b907c02 201 //EMG treshold
jessekaiser 60:664f9b907c02 202 if (filtered_pect < EMG_tresh3 && filtered_deltoid < EMG_tresh4) {
jessekaiser 60:664f9b907c02 203 Enablex = 1; //Enable = 1 turns the motor off.
jessekaiser 60:664f9b907c02 204 } else {
jessekaiser 60:664f9b907c02 205 Enablex = 0;
jessekaiser 60:664f9b907c02 206 }
jessekaiser 60:664f9b907c02 207
jessekaiser 60:664f9b907c02 208 }
jessekaiser 59:ba22a8c26dee 209
jessekaiser 59:ba22a8c26dee 210 int main()
jessekaiser 56:6ea03cce1175 211 {
jessekaiser 59:ba22a8c26dee 212 // Attach the HIDScope::send method from the scope object to the timer at 500Hz. Hier wordt de sample freq aangegeven.
jessekaiser 59:ba22a8c26dee 213 // scopeTimer.attach_us(&scope, &HIDScope::send, 2e3);
jessekaiser 59:ba22a8c26dee 214 MS1 = 1;
jessekaiser 59:ba22a8c26dee 215 MS2 = 0;
jessekaiser 59:ba22a8c26dee 216 MS3 = 0;
jessekaiser 59:ba22a8c26dee 217 Stepx.write(0.5); // Duty cycle of 50%
jessekaiser 59:ba22a8c26dee 218 Stepy.write(0.5);
jessekaiser 59:ba22a8c26dee 219
jessekaiser 61:99f3ae6e053b 220 while(errorx > 0.05 || errory > 0.05) {
jessekaiser 61:99f3ae6e053b 221 lcd.printf("%.2f %.2f \n", errorx, errory);
jessekaiser 61:99f3ae6e053b 222 Ps_x = Posx.read();
jessekaiser 61:99f3ae6e053b 223 Ps_y = Posy.read();
jessekaiser 61:99f3ae6e053b 224 if (Ps_x < 0.83) {
jessekaiser 61:99f3ae6e053b 225 Dirx = 0;
jessekaiser 61:99f3ae6e053b 226 errorx = Pt_x - Ps_x;
jessekaiser 61:99f3ae6e053b 227 cx = errorx * H_Gain;
jessekaiser 61:99f3ae6e053b 228 Stepx.period(1.0/(setpoint*cx));
jessekaiser 61:99f3ae6e053b 229 }
jessekaiser 61:99f3ae6e053b 230 if (Ps_y > 0.25) {
jessekaiser 61:99f3ae6e053b 231 Diry = 0;
jessekaiser 61:99f3ae6e053b 232 errory = Ps_y - Pt_y;
jessekaiser 61:99f3ae6e053b 233 cy = errory * H_Gain;
jessekaiser 61:99f3ae6e053b 234 Stepy.period(1.0/(setpoint*cy));
jessekaiser 61:99f3ae6e053b 235 }
jessekaiser 61:99f3ae6e053b 236 wait(0.01);
jessekaiser 61:99f3ae6e053b 237 }
jessekaiser 61:99f3ae6e053b 238
jessekaiser 61:99f3ae6e053b 239 lcd.printf("Done");
jessekaiser 61:99f3ae6e053b 240 Enablex = 1;
jessekaiser 61:99f3ae6e053b 241 Enabley = 1;
jessekaiser 61:99f3ae6e053b 242 /* Ticker emgtimer; //biceps
jessekaiser 61:99f3ae6e053b 243 arm_biquad_cascade_df1_init_f32(&lowpass_biceps, 1 , lowpass_const, lowpass_biceps_states);
jessekaiser 61:99f3ae6e053b 244 arm_biquad_cascade_df1_init_f32(&highnotch_biceps, 2 , highnotch_const, highnotch_biceps_states);
jessekaiser 61:99f3ae6e053b 245 //triceps
jessekaiser 61:99f3ae6e053b 246 arm_biquad_cascade_df1_init_f32(&lowpass_triceps, 1 , lowpass_const, lowpass_triceps_states);
jessekaiser 61:99f3ae6e053b 247 arm_biquad_cascade_df1_init_f32(&highnotch_triceps, 2 , highnotch_const, highnotch_triceps_states);
jessekaiser 61:99f3ae6e053b 248 //pectoralis major
jessekaiser 61:99f3ae6e053b 249 arm_biquad_cascade_df1_init_f32(&lowpass_pect, 1 , lowpass_const, lowpass_pect_states);
jessekaiser 61:99f3ae6e053b 250 arm_biquad_cascade_df1_init_f32(&highnotch_pect, 2 , highnotch_const, highnotch_pect_states);
jessekaiser 61:99f3ae6e053b 251 //deltoid
jessekaiser 61:99f3ae6e053b 252 arm_biquad_cascade_df1_init_f32(&lowpass_deltoid, 1 , lowpass_const, lowpass_deltoid_states);
jessekaiser 61:99f3ae6e053b 253 arm_biquad_cascade_df1_init_f32(&highnotch_deltoid, 2 , highnotch_const, highnotch_deltoid_states);
jessekaiser 61:99f3ae6e053b 254 emgtimer.attach(looper_emg, 0.01);
jessekaiser 59:ba22a8c26dee 255
jessekaiser 61:99f3ae6e053b 256 Ticker looptimer1;
jessekaiser 61:99f3ae6e053b 257 looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor, why this freq?
jessekaiser 61:99f3ae6e053b 258
jessekaiser 61:99f3ae6e053b 259 Ticker looptimer2;
jessekaiser 61:99f3ae6e053b 260 looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor
jessekaiser 61:99f3ae6e053b 261
jessekaiser 61:99f3ae6e053b 262 //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0)
jessekaiser 61:99f3ae6e053b 263 MS1 = 1;
jessekaiser 61:99f3ae6e053b 264 MS2 = 0;
jessekaiser 61:99f3ae6e053b 265 MS3 = 0;
jessekaiser 61:99f3ae6e053b 266 Stepx.write(0.5); // Duty cycle of 50%
jessekaiser 61:99f3ae6e053b 267 Stepy.write(0.5);
jessekaiser 59:ba22a8c26dee 268
jessekaiser 58:3ea066215c31 269
jessekaiser 61:99f3ae6e053b 270 while (1) {
jessekaiser 61:99f3ae6e053b 271
jessekaiser 60:664f9b907c02 272
jessekaiser 61:99f3ae6e053b 273 //lcd.printf("x %.2f, y %.2f \n", Posx.read(), Posy.read());
jessekaiser 61:99f3ae6e053b 274 //lcd.printf("%.2f, %.2f %.2f %.2f \n", filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid); //Filtered EMG values
jessekaiser 61:99f3ae6e053b 275 //lcd.printf("1 %.0f, 2 %.0f \n", step_freq1, step_freq2); //step_freq value of every EMG sensor
jessekaiser 61:99f3ae6e053b 276 lcd.printf("%.2f %.2f \n", force1, force2);
jessekaiser 61:99f3ae6e053b 277 //lcd.printf("%.2f, %.2f %.2f %.2f \n", gain_biceps, gain_triceps, gain_pect, gain_deltoid);
jessekaiser 61:99f3ae6e053b 278 //lcd.printf("%.2f, %.2f %.2f %.2f \n", norm_biceps, norm_triceps, norm_pect, norm_deltoid);
jessekaiser 61:99f3ae6e053b 279 wait(0.01);
jessekaiser 61:99f3ae6e053b 280
jessekaiser 61:99f3ae6e053b 281 }*/
jessekaiser 56:6ea03cce1175 282 }