exosuit.h

/*
 *	exosuit.h
 *
 *	MSU STARX Exosuit
 *	Software Version 2.3
 *	Created on: September 30, 2018
 *	All rights reserved
 */

#ifndef EXOSUIT_H_
#define EXOSUIT_H_

// Local includes
#include "arduinomicro.h"
#include "converter.h"
#include "pid.h"

// Arduino Micro ADC Connections
// => ADC String = [A0, A1, A2, A3, A4, A5, A6, A7, A8, A9, A10, A11]
// A0 = Pressure Sensor Channel 1
// A1 = Pressure Sensor Channel 2
// A2 = Pressure Sensor Channel 3
// A3 = Pressure Sensor Channel 4
// A4 = FSR Sensor 1
// A5 = FSR Sensor 2
// A6 = FSR Sensor 3
// A7 = FSR Sensor 4
// A8 = EMG Sensor 1
// A9 = Reserved for PWM Channel 2
// A10 = Reserved for PWM Channel 3
// A11 = EMG Sensor 2

class ExoSuit {
    #define portName "/dev/ttyACM0" // Arduino port
    #define baudRate 1000000 // Serial baud rate
    public:
        //Testing
        // Filter
        std::vector<double> u;
        std::vector<double> y;
        std::vector<double> lasty;
        Converter cvt;
        // Microcontroller Parameters
        ArduinoMicro board;
        // Sensor Definitions
        const unsigned int SensorMax = 4;
        std::vector<int> adcValues;
        std::vector<int> pressurePins{0, 1, 2, 3};
        std::vector<int> forcePins{4, 5, 6, 7};
        std::vector<int> emgPins{8, 11};
        std::vector<double> pressureStates;
        std::vector<double> forceStates;
        std::vector<double> emgStates;
        // Pressure Controller Definitions
        unsigned long totalTime = 0;
        unsigned int mode = 0;
        unsigned long lastTime = 0;
        unsigned long sampleTime = 3000; //milliseconds
        double Kp = 3; // 4
        double Ki = 2; // 3
        double Kd = 0.05; // 0.01
        double outputMin = 0;
        double outputMax = 100;
        double setpointValue = 60; // PSI
        std::vector<double> outputStates;
        std::vector<double> setpointStates;
        std::vector<unsigned int> dutyCycleStates;
        std::vector<std::string> dutyCycles;
        std::vector<PID> pressurePID;
        // Exosuit Functions
        void updateADC(void);
        void updateGPIO(void);
        void updateSensors(void);
        void updatePressurePID(void);
        void updatePWM(void);
        void initialize(void);
};

#endif // EXOSUIT_H_