Microcontroller Flow Charts:

Figures 1,2,3,4,5 shown below, illustrate the basic principle of our EMG signal to Microcontroller interactions. The main PIC which will be located on the robot arm and will be responsible for taking the inputs and controlling the motors. Essentially the PIC will be constantly sending out pulses which codes the servo motors positions received from the EMG signals. 

Figure 1. uC Code Overview

Figure 2. A/D Hardware Routine

Figure 3. A/D Software Flow Chart

Figure 4. PWM Overview

Figure 5. RS232 Software Routine

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