#include <iostream>
#include <quickDAQ.h>

Classes
class	myosyn
	This is the class object for each muscle channel. More...

class	T5encoder

class	T5control

Macros
#define	MYOSYN_H

#define	eprintf(_STR, ...) fprintf(ERRSTREAM, _STR, __VA_ARGS__)

#define	DIGITAL_HIGH_VOLTS 5.0

#define	DIGITAL_LOW_VOLTS 0.0

#define	WIND_UP_VOLTS 0.8

#define	WIND_DOWN_VOLTS 0.0

#define	DEFAULT_MUSCLE_TONE 1.0

#define	MAX_MUSCLE_TENSION 30.0

#define	MOTOR_SHAFT_DIAMTR 6

#define	LOADCELL_TARE_NSAMP 100

Typedefs
typedef enum _DAQarrangement	DAQarrangement
	Enumerates the different types of configurations supported by myosyn.

typedef enum _muscleStatus	muscleStatus
	This ENUM lists the possible statuses of each muscle channel.

Enumerations
enum	_DAQarrangement { RING_OF_FIRE = 0 , QUADRUPED = 1 , MUSCLE_MODULE = 2 }
	Enumerates the different types of configurations supported by myosyn. More...

enum	_muscleStatus { MYOSYN_DISABLED = 0 , MYOSYN_READY_WINDDOWN = 1 , MYOSYN_ENABLED_WINDUP = 2 , MYOSYN_CLOSEDLOOP = 3 }
	This ENUM lists the possible statuses of each muscle channel. More...

Functions
unsigned	myosynNumMuscles ()
	Returns the number of muscles configured by the library.

DAQarrangement	myosynGetConfiguration ()

void	myosynSetConfiguration (DAQarrangement DAQconfiguration)
	Set the muscle configuration/arrangement type of the library. List of possibilities in the DAQarrangement enum.

double	myosynSamplingRate (double newSamplingRate=myosyn_samplingRate_global)
	Sets the sampling rate of the data acquisition and controller of all the muscle channels. The default rate is 1000Hz.

void	myosynStart ()
	This routine starts the data acquisition on all muscle channels that haven't already been started so long as at least one channel has been configured.

void	myosynStop ()
	This function sops the data acquisition of all muscle channels that were started (ie. active).

void	myosynSetLeaderChannel (int newLeader)
	Sets the leader/master muscle channel which governs/triggers data acquisition on all other muscles.

int	myosynGetLeaderChannel ()
	Returns the leader muscle channel which governs/triggers data acquisition on all other muscles.

void	myosynReadInputs ()
	Global function to read all DAQ inputs in a synchronized manner. The results are put into the class objects of each muscle channel.

void	myosynWriteOutputs ()
	Global function to write all DAQ outputs in a synchronized manner. The results are put into the class objects of each muscle channel.

void	myosynWaitForClock ()
	This blocking function waits for the clock period to finish between two function calls. So, if the sampling period is 1ms, the second call of this function will block until 1ms has passed betwen two function calls.

Variables
DAQarrangement	myosynConfiguration

unsigned	numConfiguredMuscles

int	myosynLeader

double	myosyn_samplingRate_global

unsigned	muscle_mtr_val [16][2]

unsigned	muscle_mtr_en [16][2]

unsigned	muscle_enc_ring [8][2]

unsigned	muscle_enc_kleo [8][2]

unsigned	muscle_enc_mtr [12][2]

unsigned	muscle_enc_spl [12][2]

unsigned	muscle_ld_cell [8][2]

double	loadcell_calib [8][2]

double	mtr_trque_calib [16][2]

Macro Definition Documentation

◆ DEFAULT_MUSCLE_TONE

#define DEFAULT_MUSCLE_TONE 1.0

Definition at line 14 of file myosyn.h.

◆ DIGITAL_HIGH_VOLTS

#define DIGITAL_HIGH_VOLTS 5.0

Definition at line 10 of file myosyn.h.

◆ DIGITAL_LOW_VOLTS

#define DIGITAL_LOW_VOLTS 0.0

Definition at line 11 of file myosyn.h.

◆ eprintf

#define eprintf	(	_STR,
		...
	)	fprintf(ERRSTREAM, _STR, __VA_ARGS__)

Definition at line 8 of file myosyn.h.

◆ LOADCELL_TARE_NSAMP

#define LOADCELL_TARE_NSAMP 100

Definition at line 17 of file myosyn.h.

◆ MAX_MUSCLE_TENSION

#define MAX_MUSCLE_TENSION 30.0

Definition at line 15 of file myosyn.h.

◆ MOTOR_SHAFT_DIAMTR

#define MOTOR_SHAFT_DIAMTR 6

Definition at line 16 of file myosyn.h.

◆ MYOSYN_H

#define MYOSYN_H

Definition at line 3 of file myosyn.h.

◆ WIND_DOWN_VOLTS

#define WIND_DOWN_VOLTS 0.0

Definition at line 13 of file myosyn.h.

◆ WIND_UP_VOLTS

#define WIND_UP_VOLTS 0.8

Definition at line 12 of file myosyn.h.

Typedef Documentation

◆ DAQarrangement

typedef enum _DAQarrangement DAQarrangement

Enumerates the different types of configurations supported by myosyn.

◆ muscleStatus

typedef enum _muscleStatus muscleStatus

This ENUM lists the possible statuses of each muscle channel.

Enumeration Type Documentation

◆ _DAQarrangement

enum _DAQarrangement

Enumerates the different types of configurations supported by myosyn.

Enumerator
RING_OF_FIRE
QUADRUPED
MUSCLE_MODULE

Definition at line 22 of file myosyn.h.

◆ _muscleStatus

enum _muscleStatus

This ENUM lists the possible statuses of each muscle channel.

Enumerator
MYOSYN_DISABLED
MYOSYN_READY_WINDDOWN
MYOSYN_ENABLED_WINDUP
MYOSYN_CLOSEDLOOP

Definition at line 32 of file myosyn.h.

Function Documentation

◆ myosynGetConfiguration()

DAQarrangement myosynGetConfiguration ( )

Definition at line 122 of file myosyn.cpp.

◆ myosynGetLeaderChannel()

int myosynGetLeaderChannel ( )

Returns the leader muscle channel which governs/triggers data acquisition on all other muscles.

Returns: If successful, the postive/zero leader muscle channel number. Otherwise, a negative error code.

Definition at line 181 of file myosyn.cpp.

◆ myosynNumMuscles()

unsigned myosynNumMuscles ( )

Returns the number of muscles configured by the library.

Returns: Unsigned integer number of muscles.

Definition at line 117 of file myosyn.cpp.

◆ myosynReadInputs()

void myosynReadInputs ( )

Global function to read all DAQ inputs in a synchronized manner. The results are put into the class objects of each muscle channel.

Definition at line 191 of file myosyn.cpp.

◆ myosynSamplingRate()

double myosynSamplingRate ( double newSamplingRate = myosyn_samplingRate_global )

Sets the sampling rate of the data acquisition and controller of all the muscle channels. The default rate is 1000Hz.

Parameters

newSamplingRate The global sampling rate of the DAQ subsystem. Cannot be overriden.

Returns: If successful, returns the positive sampling rate that was set. Otherwise, it returns a negative error code.

Definition at line 136 of file myosyn.cpp.

◆ myosynSetConfiguration()

void myosynSetConfiguration ( DAQarrangement DAQconfiguration )

Set the muscle configuration/arrangement type of the library. List of possibilities in the DAQarrangement enum.

Parameters

DAQconfiguration The muscle configuration type (from the DAQarrangement enum) to which the library muscle be set.

Definition at line 126 of file myosyn.cpp.

◆ myosynSetLeaderChannel()

void myosynSetLeaderChannel ( int newLeader )

Sets the leader/master muscle channel which governs/triggers data acquisition on all other muscles.

Parameters

newLeader The muscle channel which needs to be set as a leader.

Definition at line 186 of file myosyn.cpp.

◆ myosynStart()

void myosynStart ( )

This routine starts the data acquisition on all muscle channels that haven't already been started so long as at least one channel has been configured.

Definition at line 146 of file myosyn.cpp.

◆ myosynStop()

void myosynStop ( )

This function sops the data acquisition of all muscle channels that were started (ie. active).

Definition at line 168 of file myosyn.cpp.

◆ myosynWaitForClock()

void myosynWaitForClock ( )

This blocking function waits for the clock period to finish between two function calls. So, if the sampling period is 1ms, the second call of this function will block until 1ms has passed betwen two function calls.

Definition at line 208 of file myosyn.cpp.

◆ myosynWriteOutputs()

void myosynWriteOutputs ( )

Global function to write all DAQ outputs in a synchronized manner. The results are put into the class objects of each muscle channel.

Definition at line 203 of file myosyn.cpp.

Variable Documentation

◆ loadcell_calib

double loadcell_calib[8][2]

extern

Definition at line 97 of file myosyn.cpp.

◆ mtr_trque_calib

double mtr_trque_calib[16][2]

extern

◆ muscle_enc_kleo

unsigned muscle_enc_kleo[8][2]

extern

Definition at line 53 of file myosyn.cpp.

◆ muscle_enc_mtr

unsigned muscle_enc_mtr[12][2]

extern

Definition at line 62 of file myosyn.cpp.

◆ muscle_enc_ring

unsigned muscle_enc_ring[8][2]

extern

Definition at line 44 of file myosyn.cpp.

◆ muscle_enc_spl

unsigned muscle_enc_spl[12][2]

extern

Definition at line 75 of file myosyn.cpp.

◆ muscle_ld_cell

unsigned muscle_ld_cell[8][2]

extern

Definition at line 88 of file myosyn.cpp.

◆ muscle_mtr_en

unsigned muscle_mtr_en[16][2]

extern

Definition at line 27 of file myosyn.cpp.

◆ muscle_mtr_val

unsigned muscle_mtr_val[16][2]

extern

Definition at line 10 of file myosyn.cpp.

◆ myosyn_samplingRate_global

double myosyn_samplingRate_global

extern

Definition at line 114 of file myosyn.cpp.

◆ myosynConfiguration

DAQarrangement myosynConfiguration

extern

Definition at line 111 of file myosyn.cpp.

◆ myosynLeader

int myosynLeader

extern

Definition at line 113 of file myosyn.cpp.

◆ numConfiguredMuscles

unsigned numConfiguredMuscles

extern

Definition at line 112 of file myosyn.cpp.

Classes

Macros

Typedefs

Enumerations

Functions

Variables

Macro Definition Documentation

◆ DEFAULT_MUSCLE_TONE

◆ DIGITAL_HIGH_VOLTS

◆ DIGITAL_LOW_VOLTS

◆ eprintf

◆ LOADCELL_TARE_NSAMP

◆ MAX_MUSCLE_TENSION

◆ MOTOR_SHAFT_DIAMTR

◆ MYOSYN_H

◆ WIND_DOWN_VOLTS

◆ WIND_UP_VOLTS

Typedef Documentation

◆ DAQarrangement

◆ muscleStatus

Enumeration Type Documentation

◆ _DAQarrangement

◆ _muscleStatus

Function Documentation

◆ myosynGetConfiguration()

◆ myosynGetLeaderChannel()

◆ myosynNumMuscles()

◆ myosynReadInputs()

◆ myosynSamplingRate()

◆ myosynSetConfiguration()

◆ myosynSetLeaderChannel()

◆ myosynStart()

◆ myosynStop()

◆ myosynWaitForClock()

◆ myosynWriteOutputs()

Variable Documentation

◆ loadcell_calib

◆ mtr_trque_calib

◆ muscle_enc_kleo

◆ muscle_enc_mtr

◆ muscle_enc_ring

◆ muscle_enc_spl

◆ muscle_ld_cell

◆ muscle_mtr_en

◆ muscle_mtr_val

◆ myosyn_samplingRate_global

◆ myosynConfiguration

◆ myosynLeader

◆ numConfiguredMuscles