myosyn.h

Go to the documentation of this file.

#pragma once
#ifndef MYOSYN_H
#define MYOSYN_H
 
#include <iostream>
#include <quickDAQ.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     // Newtons
#define MAX_MUSCLE_TENSION  30.0    // Newtons
#define MOTOR_SHAFT_DIAMTR  6       // millimeters
#define LOADCELL_TARE_NSAMP 100
 
typedef enum _DAQarrangement
{
    RING_OF_FIRE    = 0,
    QUADRUPED       = 1,
    MUSCLE_MODULE   = 2
}DAQarrangement;
 
typedef enum _muscleStatus
{
    MYOSYN_DISABLED         = 0,
    MYOSYN_READY_WINDDOWN   = 1,
    MYOSYN_ENABLED_WINDUP   = 2,
    MYOSYN_CLOSEDLOOP       = 3
} muscleStatus;
 
// myosyn global variables
//extern int T5_quickDAQstatus;
extern DAQarrangement myosynConfiguration;
extern unsigned numConfiguredMuscles;
extern int myosynLeader;
extern double myosyn_samplingRate_global;
 
// Some global reconfigurable DAQ configuration/pin mapping variables
extern unsigned muscle_mtr_val  [16][2];
extern unsigned muscle_mtr_en   [16][2];
extern unsigned muscle_enc_ring [ 8][2];
extern unsigned muscle_enc_kleo [ 8][2];
extern unsigned muscle_enc_mtr  [12][2];
extern unsigned muscle_enc_spl  [12][2];
extern unsigned muscle_ld_cell  [ 8][2];
extern double   loadcell_calib  [ 8][2]; // gain, bias for each of 8 load cells
extern double   mtr_trque_calib [16][2]; // gain, bias for each of 8 load cells
 
// Global myosyn functions
 
unsigned myosynNumMuscles();
 
DAQarrangement myosynGetConfiguration();
 
void myosynSetConfiguration(DAQarrangement DAQconfiguration);
 
double myosynSamplingRate(double newSamplingRate = myosyn_samplingRate_global);
 
void myosynStart();
 
void myosynStop();
 
void myosynSetLeaderChannel(int newLeader);
 
int myosynGetLeaderChannel();
 
void myosynReadInputs();
 
void myosynWriteOutputs();
 
void myosynWaitForClock();
 
// MyoSyn class
 
class myosyn {
    unsigned channelID;
    DAQarrangement* myDAQarrangement;
    muscleStatus status;
 
    unsigned maxChannels_mtr, maxChannels_enc;
 
    unsigned (*motor_enable_config)[2];
    unsigned (*motor_value_config)[2];
    unsigned (*encoder_config)[2];
    unsigned (*encoder_opt_config)[2];
    unsigned (*loadcell_config)[2];
 
    // Muscle constant parameters for closed-loop control
    double muscleToneTension;
    double maxMuscleTension;
 
    //Sensor and motor calibration parameters
    double loadcell_offset, loadcell_gain; // Voltage to force calibration for loadcell
    double encoder_offset_angle; // zero out encoder angle after windup
    double encoder_angle_to_excursion_ratio; // Angle to tendon excursion calibration for encoder
 
    double mtrTension_offset, mtrTension_gain; // Voltage to motor Tension
 
    // Live update variables
    double refMuscleTension;
    double myMuscleTension;
 
    // Controller variables
    double motorCommand;
 
public:
    // Constructors and destructor
 
    myosyn();
    
    myosyn(unsigned muscleChannel);
 
    ~myosyn();
    
    // myosyn support functions
 
    unsigned        getChannelID();
    
    muscleStatus    getMuscleStatus();
 
    void            setMuscleStatus(muscleStatus newStatus);
 
    // DAQ support functions and function pointers
 
    void            (*startDAQ)();
    
    void            (*stopDAQ)();
 
    // Muscle open-loop operations
    
    void            windUp();
 
    void            windDown();
 
    // Functions for muscle closed-loop parameter settings
    
    void            setMuscleToneTension(double myMuscleTone_value);
 
    double          getMuscleToneTension();
 
    void            setMaxMuscleTension(double max_tension);
 
    double          getMaxMuscleTension();
 
    void            setReferenceTension(double myTension);
 
    double          getReferenceTension();
 
    // Functions to read and scale sensor data
 
    void            calibrateTension(double loadCellGain = NAN);
 
    double          loadcellV2F(double LCvoltage);
 
    void            readMuscleTension();
 
    double          getMuscleTension();
 
    void            calibrateExcursion(double spoolDiameter = NAN);
 
    double          encoderAngle2Excursion(double encoderAngle);
 
    void            readTendonExcursion();
    
    double          getTendonExcursion();
 
    // Functions for controller and output write ops
 
    void            startMuscleControl();
 
    double          getMotorCommand();
 
    void            setMotorCommand(double newCommand);
 
    void            (*controlRoutine)(unsigned numOutputs, double* outputs, unsigned numInputs, double* inputs);
 
    void            executeControl();
 
    void            stopMuscleControl();
};
 
class T5encoder {
    T5encoder();
};
 
 
class T5control {
    T5control();
};
 
#endif // !MYOSYN_H