adipu/EMG_Arm
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c37b0f4d61955b0b3fad5c0974a3df53a5090205
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Author SHA1 Message Date
Surya Balaji
c37b0f4d61 GUI bugs - pushed for collab fixing 2026-01-19 22:24:04 -06:00
pulipakaa24
5ff77f9400 ignore my shi 2026-01-19 22:19:46 -06:00
Surya Balaji
b48eebe5df Restructure ESP32 firmware into layered architecture with serial streaming 
Architecture changes:
- config/: Centralized pin definitions and settings
- hal/: Hardware abstraction layer (servo PWM control)
- drivers/: Device drivers (hand, emg_sensor)
- core/: Business logic (gestures)
- app/: Application entry point

New features:
- Fake EMG data streaming over USB serial at ~100 Hz
- FEATURE_FAKE_EMG flag to switch between fake/real sensors
- Python RealSerialStream class for receiving serial data

Data format: timestamp_ms,ch0,ch1,ch2,ch3
 2026-01-19 00:02:24 -06:00
Surya Balaji
8435f37f84 Refactor servo control into modular architecture with documentation 
Code Structure:
- servo.h/c: Low-level servo control (init, PWM, position)
- gestures.h/c: High-level finger movements and hand gestures
- main.c: Clean application entry point

New Features:
- servo_degrees_to_duty(): Convert angle (0-180) to duty cycle
- servo_set_finger_degrees(): Set finger position using degrees
- finger_t enum for type-safe finger identification

Documentation:
- Added Doxygen-style comments (@file, @brief, @param, etc.)
- Professional header blocks for all modules
- Inline comments explaining hardware configuration

API Functions:
- Individual finger control: flex_thumb(), unflex_index(), etc.
- Composite gestures: gesture_make_fist(), gesture_open_hand()
- Demo sequences: demo_individual_fingers(), demo_close_open()
 2026-01-18 11:38:09 -06:00
Surya Balaji
7af06f115a Restructure repo: add Python EMG scripts and move ESP32 code to EMG_Arm/ 
- Add emg_gui.py, learning_data_collection.py, learning_emg_filtering.py
- Add collected EMG data and trained models
- Move ESP32/PlatformIO code into EMG_Arm/ subdirectory
- Add servo control functions for robotic hand (flex/unflex fingers)
- Update .gitignore for Python and PlatformIO
- Exclude large asset files from repo (>100MB)
 2026-01-17 23:39:40 -06:00
pulipakaa24
bcfcd8f8c6 Servo trial 2026-01-14 22:41:37 -06:00
pulipakaa24
95ace3cd02 first commit 2026-01-14 20:38:59 -06:00