def tellWhichFpga(self, xemNum, chanName, newWireIn):
ctrl = self.ch_all[chanName] # Handle of the Tester channel
ctrl.currValue = newWireIn
if (ctrl.type == 'int32'):
bitVal = convertType(floor(newWireIn), fromType = 'i', toType = 'I')
elif (ctrl.type == 'float32'):
bitVal = convertType(newWireIn, fromType = 'f', toType = 'I')
bitVal2 = convertType(0.0, fromType = 'f', toType = 'I') # velocity
self.nerfModel[xemNum].SendMultiPara(bitVal1 = bitVal, bitVal2=bitVal2, trigEvent = ctrl.id)
def runExp(self):
k = PyKeyboard()
# Resetting both gammas
k.type_string('s')
k.type_string('d')
for i in xrange(self.SWEEP_STEP_SIZE):
if (self.running):
# Resetting gammaSta
k.type_string('s')
for j in xrange(self.SWEEP_STEP_SIZE):
if (self.running):
self.currTrial = i*self.SWEEP_STEP_SIZE + j + 1
# Reset and cool-down
for nagging in xrange(5):
k.type_string('0')
sleep(0.3)
self.strong_damper.damping = 0.0
# Perturbation
k.type_string('j')
sleep(3)
# Increasing gammaSta
k.type_string('w')
sleep(1.0)
# Add a strong damper to stop any motion
self.strong_damper.damping = 100.0
# attmept to remove the residual torque.
bitVal = convertType(0.0, fromType = 'f', toType = 'I')
xem_spindle_bic.SendPara(bitVal = bitVal, trigEvent = 1) # Ia gain
xem_spindle_tri.SendPara(bitVal = bitVal, trigEvent = 1)
xem_spindle_bic.SendPara(bitVal = bitVal, trigEvent = 10) # II gain
xem_spindle_tri.SendPara(bitVal = bitVal, trigEvent = 10)
sleep(2.0)
bitVal = convertType(1.2, fromType = 'f', toType = 'I')
xem_spindle_bic.SendPara(bitVal = bitVal, trigEvent = 1) # Ia gain
xem_spindle_tri.SendPara(bitVal = bitVal, trigEvent = 1)
bitVal_II = convertType(2.0, fromType = 'f', toType = 'I')
xem_spindle_bic.SendPara(bitVal = bitVal_II, trigEvent = 10) # II gain
xem_spindle_tri.SendPara(bitVal = bitVal_II, trigEvent = 10)
# Increasing gammaDyn
k.type_string('e')
k.tap_key(k.escape_key)
def tellWhichFpga(self, xemNum, chanName, newWireIn):
ctrl = self.ch_all[chanName] # Handle of the Tester channel
ctrl.currValue = newWireIn
if (ctrl.type == 'int32'):
bitVal = convertType(floor(newWireIn), fromType='i', toType='I')
elif (ctrl.type == 'float32'):
bitVal = convertType(newWireIn, fromType='f', toType='I')
bitVal2 = convertType(0.0, fromType='f', toType='I') # velocity
self.nerfModel[xemNum].SendMultiPara(bitVal1=bitVal,
bitVal2=bitVal2,
trigEvent=ctrl.id)
def on_checkBox_2_clicked(self, checked):
"""
Slot documentation goes here.
"""
if (checked):
# bitVal1 = convertType(400.0, fromType = 'f', toType = 'I')
# bitVal2 = convertType(100.0, fromType = 'f', toType = 'I')
# TODO: not implemented yet
self.xemList[0].SendPara(bitVal = 1000, trigEvent = 8)
self.xemList[1].SendPara(bitVal = 5000, trigEvent = 8)
print self.xemList[0], self.xemList[1]
else:
bitVal = convertType(0.0, fromType = 'f', toType = 'I')
# TODO: not implemented yet
self.xemList[0].SendPara(bitVal = bitVal, trigEvent = 8)
self.xemList[1].SendPara(bitVal = bitVal, trigEvent = 8)
def on_checkBox_2_clicked(self, checked):
"""
Slot documentation goes here.
"""
if (checked):
# bitVal1 = convertType(400.0, fromType = 'f', toType = 'I')
# bitVal2 = convertType(100.0, fromType = 'f', toType = 'I')
# TODO: not implemented yet
self.xemList[0].SendPara(bitVal = 1000, trigEvent = 8)
self.xemList[1].SendPara(bitVal = 5000, trigEvent = 8)
print self.xemList[0], self.xemList[1]
else:
bitVal = convertType(0.0, fromType = 'f', toType = 'I')
# TODO: not implemented yet
self.xemList[0].SendPara(bitVal = bitVal, trigEvent = 8)
self.xemList[1].SendPara(bitVal = bitVal, trigEvent = 8)
def controlLoopTriceps(self):
while self.running:
""" Get forces """
# force_bic_pre = max(0.0, xem_muscle_bic.ReadFPGA(0x32, "float32")) / 128 #- 0.2
# emg_bic = xem_muscle_bic.ReadFPGA(0x20, "float32") # EMG
self.spikecnt_tri = xem_muscle_tri.ReadFPGA(0x30, "int32")
force_tri_pre = max(0.0, xem_muscle_tri.ReadFPGA(0x32, "float32")) / 128 #- 2.64
force_tri_pre = force_tri_pre * 1.0 # force adjustment for quick reflex return
self.emg_tri = xem_muscle_tri.ReadFPGA(0x20, "float32") # EMG
self.timeref_tri = xem_spindle_tri.ReadFPGA(0x28, "float32") #
# force_bic = force_bic_pre #+ pipeInData_bic[j]
self.force_tri = force_tri_pre *self.torqueMultiplier #+ pipeInData_bic[j]
""" force curve (f-input spikes) saturation effect"""
# self.force_tri = self.force_tri * (1-exp(-self.force_tri/self.fmax))
""" extra data for close loop data acquisition"""
# Ia_afferent = xem_spindle_tri.ReadFPGA(0x22, "float32") # EMG
# II_afferent = xem_spindle_tri.ReadFPGA(0x24, "float32") # EMG
# MN1_spikes = xem_muscle_tri.ReadFPGA(0x22, "spike32") #
# MN2_spikes = xem_muscle_tri.ReadFPGA(0x24, "spike32") #
# MN3_spikes = xem_muscle_tri.ReadFPGA(0x26, "spike32") #
# MN4_spikes = xem_muscle_tri.ReadFPGA(0x28, "spike32") #
# MN5_spikes = xem_muscle_tri.ReadFPGA(0x2A, "spike32") #
# MN6_spikes = xem_muscle_tri.ReadFPGA(0x2C, "spike32") #
###
# self.gForearm_body.torque = (self.force_bic - self.force_tri) * 0.06
#lce = 1.0
#angle = ((self.gForearm_body.angle + M_PI) % (2*M_PI)) - M_PI - self.gRest_joint_angle
self.lce_tri = self.angle2length(self.angle)+ 0.02
# self.lce_bic = 2.04 - self.lce_tri
# Send lce of biceps
bitVal = convertType(self.lce_bic, fromType = 'f', toType = 'I')
# bitVal2 = convertType(0.0, fromType = 'f', toType = 'I')
# bitVal3 = convertType(sineBic[j], fromType = 'I', toType = 'I')
#try M1_extra - 200000
# xem_muscle_bic.SendMultiPara_TEMP(bitVal1 = bitVal, bitVal2 = 200000, bitVal3 = bitVal3, trigEvent = 9) # bitVal2: extraCN1, bitVal: extraCN2 is int type
# xem_muscle_bic.SendPara(bitVal = bitVal, trigEvent = 9)
# self.angularV = self.gForearm_body.angular_velocity
# self.linearV = self.angular2LinearV(angularV)
# print linearV
# self.scale = 500.0
# bitVal_bic_i = convertType(-linearV*scale, fromType = 'f', toType = 'I')
bitVal_tri_i = convertType(self.linearV*self.scale, fromType = 'f', toType = 'I')
# xem_muscle_bic.SendMultiPara(bitVal1 = bitVal, bitVal2 = bitVal_bic_i, trigEvent = 9)
# xem_spindle_bic.SendPara(bitVal = bitVal, trigEvent = 9)
""" Alpha-gamma coactivation """
# ag_coact, ag_bias = 30.0, 50.0
# gd_tri = force_tri * ag_coact + ag_bias
# bitval = convertType(gd_tri, fromType = 'f', toType = 'I')
# xem_spindle_tri.SendPara(bitVal = bitval, trigEvent = 4) # 4 = Gamma_dyn
# xem_spindle_tri.SendPara(bitVal = bitval, trigEvent = 5) # 4 = Gamma_sta
""" Send lce of triceps """
bitVal = convertType(self.lce_tri, fromType = 'f', toType = 'I')
# bitVal2 = convertType(1.0, fromType = 'f', toType = 'I')
# bitVal3 = convertType(sineTri[j], fromType = 'I', toType = 'I')
# xem_muscle_tri.SendMultiPara_TEMP(bitVal1 = bitVal, bitVal2 = 200000, bitVal3=bitVal3, trigEvent = 9) # bitVal2: extraCN1, bitVal: extraCN2 is int type
# xem_muscle_tri.SendPara(bitVal = bitVal, trigEvent = 9)
xem_muscle_tri.SendMultiPara(bitVal1 = bitVal, bitVal2= bitVal_tri_i, trigEvent = 9)
xem_spindle_tri.SendPara(bitVal = bitVal, trigEvent = 9)
""" Alpha-gamma coactivation """
# gd_tri = force_tri * ag_coact + ag_bias
# bitval = convertType(gd_tri, fromType = 'f', toType = 'I')
# xem_spindle_tri.SendPara(bitVal = bitval, trigEvent = 4) # 4 = Gamma_dyn
# print "lce0 = %.2f :: lce1 = %.2f :: total_torque = %.2f" % (self.lce_bic, lce_tri, gForearm_body.torque),
# print "force0 = %.2f :: force1 = %.2f :: angle = %.2f :: gd_bic = %.2f :: angularV =%.2f" % (force_bic, force_tri, angle, gd_bic, angularV )
currentTime = time.time()
self.elapsedTime_tri = currentTime- self.start_time
def controlLoopBiceps(self):
while self.running:
""" Get forces """
force_bic_pre = max(0.0, xem_muscle_bic.ReadFPGA(0x32, "float32")) / 128 #- 0.2
#force_bic_pre = force_bic_pre * 1.0 # force adjustment for quick reflex return
self.spikecnt_bic = xem_muscle_bic.ReadFPGA(0x30, "int32")
self.emg_bic = xem_muscle_bic.ReadFPGA(0x20, "float32") # EMG
self.timeref_bic = xem_spindle_bic.ReadFPGA(0x28, "float32") #
""" extra data for close loop data acquisition"""
# Ia_afferent = xem_spindle_bic.ReadFPGA(0x22, "float32") # EMG
# II_afferent = xem_spindle_bic.ReadFPGA(0x24, "float32") # EMG
# MN1_spikes = xem_muscle_bic.ReadFPGA(0x22, "spike32") #
# MN2_spikes = xem_muscle_bic.ReadFPGA(0x24, "spike32") #
# MN3_spikes = xem_muscle_bic.ReadFPGA(0x26, "spike32") #
# MN4_spikes = xem_muscle_bic.ReadFPGA(0x28, "spike32") #
# MN5_spikes = xem_muscle_bic.ReadFPGA(0x2A, "spike32") #
# MN6_spikes = xem_muscle_bic.ReadFPGA(0x2C, "spike32") #
# force_tri_pre = max(0.0, xem_muscle_tri.ReadFPGA(0x32, "float32")) / 128 #- 2.64
# emg_tri = xem_muscle_tri.ReadFPGA(0x20, "float32") # EMG
self.force_bic = force_bic_pre*self.torqueMultiplier #+ pipeInData_bic[j]
# force_tri = force_tri_pre #+ pipeInData_bic[j]
""" overflow to opposite muscle test (helps to stabilize - eric)"""
# temp_force_tri = self.force_tri
# self.force_tri = self.force_tri + force_bic*0.3 # overflow to the opposite muscle
# force_bic = force_bic + temp_force_tri*0.3 # overflow to the opposite muscle
""" force curve (f-input spikes) saturation effect"""
# self.fmax =90.0
# force_bic = force_bic * (1-exp(-force_bic/self.fmax))
# self.force_bic = max(0, self.force_bic - self.force_tri * self.RATIO_RECIPROCAL_INHIBITION)
# self.force_tri = max(0, self.force_tri - self.force_bic * self.RATIO_RECIPROCAL_INHIBITION)
self.gForearm_body.torque = (self.force_bic - self.force_tri) * 0.02 #0.03 # was 0.06
self.angle = ((self.gForearm_body.angle + M_PI) % (2*M_PI)) - M_PI - self.gRest_joint_angle
# lce_tri = self.angle2length(angle)+ 0.02
self.lce_bic = 2.04 - self.lce_tri
# Send lce of biceps
bitVal = convertType(self.lce_bic, fromType = 'f', toType = 'I')
# bitVal2 = convertType(0.0, fromType = 'f', toType = 'I')
# bitVal3 = convertType(sineBic[j], fromType = 'I', toType = 'I')
#try M1_extra - 200000
# xem_muscle_bic.SendMultiPara_TEMP(bitVal1 = bitVal, bitVal2 = 200000, bitVal3 = bitVal3, trigEvent = 9) # bitVal2: extraCN1, bitVal: extraCN2 is int type
# xem_muscle_bic.SendPara(bitVal = bitVal, trigEvent = 9)
angularV = self.gForearm_body.angular_velocity
self.linearV = self.angular2LinearV(angularV)
# self.linearV = 0.0
# print linearV
self.scale = 100.0 #15.0 # unstable when extra cortical signal is given, 30 is for doornik data collection
#self.linearV = min(0, self.linearV ) # testing: only vel component in afferent active when lengthing
bitVal_bic_i = convertType(-self.linearV*self.scale, fromType = 'f', toType = 'I')
# bitVal_tri_i = convertType(self.linearV*scale, fromType = 'f', toType = 'I')
xem_muscle_bic.SendMultiPara(bitVal1 = bitVal, bitVal2 = bitVal_bic_i, trigEvent = 9)
xem_spindle_bic.SendPara(bitVal = bitVal, trigEvent = 9)
""" udp sending """
#self.sendUdp("%.4f" % self.emg_bic)
""" Alpha-gamma coactivation """
# ag_coact, ag_bias = 30.0, -70.0
# ag_coact, ag_bias = 30.0, 50.0
# gd_bic = force_bic * ag_coact + ag_bias
## print gd_bic
# bitval = convertType(gd_bic, fromType = 'f', toType = 'I')
# xem_spindle_bic.SendPara(bitVal = bitval, trigEvent = 4) # 4 = Gamma_dyn
# xem_spindle_bic.SendPara(bitVal = bitval, trigEvent = 5) # 4 = Gamma_sta
""" Send lce of triceps """
# bitVal = convertType(self.lce_tri, fromType = 'f', toType = 'I')
# bitVal2 = convertType(1.0, fromType = 'f', toType = 'I')
# bitVal3 = convertType(sineTri[j], fromType = 'I', toType = 'I')
# xem_muscle_tri.SendMultiPara_TEMP(bitVal1 = bitVal, bitVal2 = 200000, bitVal3=bitVal3, trigEvent = 9) # bitVal2: extraCN1, bitVal: extraCN2 is int type
# xem_muscle_tri.SendPara(bitVal = bitVal, trigEvent = 9)
# xem_muscle_tri.SendMultiPara(bitVal1 = bitVal, bitVal2= bitVal_tri_i, trigEvent = 9)
# xem_spindle_tri.SendPara(bitVal = bitVal, trigEvent = 9)
""" Alpha-gamma coactivation """
# gd_tri = force_tri * ag_coact + ag_bias
# bitval = convertType(gd_tri, fromType = 'f', toType = 'I')
# xem_spindle_tri.SendPara(bitVal = bitval, trigEvent = 4) # 4 = Gamma_dyn
#print "lce0 = %.2f :: lce1 = %.2f :: total_torque = %.2f" % (self.lce_bic, self.lce_tri, self.gForearm_body.torque),
# print "force0 = %.2f :: force1 = %.2f :: angle = %.2f :: gd_bic = %.2f :: angularV =%.2f" % (force_bic, force_tri, angle, gd_bic, angularV )
currentTime = time.time()
self.elapsedTime_bic = currentTime- self.start_time
def setGammaSta(self):
bitVal = convertType(self.currGammaSta, fromType = 'f', toType = 'I')
xem_spindle_bic.SendPara(bitVal = bitVal, trigEvent = 5)
xem_spindle_tri.SendPara(bitVal = bitVal, trigEvent = 5)
def corticalGain(self, val):
bitVal50 = convertType(val, fromType = 'f', toType = 'I')
xem_muscle_bic.SendPara(bitVal = bitVal50, trigEvent = 10)
xem_muscle_tri.SendPara(bitVal = bitVal50, trigEvent = 10)
def tonicDrive(self, val):
bitVal2 = convertType(val, fromType = 'f', toType = 'I')
xem_cortical_tri.SendPara(bitVal = bitVal2, trigEvent = 8)
