Diff: main.cpp

Revision:

1:aa0d93df1af1

Parent:

0:7b9ca8e5811b

Child:

2:90a9ed488f08

diff -r 7b9ca8e5811b -r aa0d93df1af1 main.cpp
--- a/main.cpp	Thu Oct 29 09:43:31 2015 +0000
+++ b/main.cpp	Thu Oct 29 10:47:24 2015 +0000
@@ -3,108 +3,48 @@
 Serial pc(USBTX, USBRX);
 
 
-// Define pin for motor control
+// Define pins for motor control
+//horizontal motor
 DigitalOut directionPin(D4);
 PwmOut PWM(D5);
+//keypress motor
 DigitalOut directionPin_key(D7);
 PwmOut PWM_key(D6);
 
-DigitalIn buttonccw(PTA4);
-DigitalIn buttoncw(PTC6);
+//button to press the key
+DigitalIn button_key(PTC6);
 
+//pot meters to act as emg filter substitutes
 AnalogIn left_pot(A0);
 AnalogIn right_pot(A1);
+
+//variables to hold the values of the pot meters
 double emg_left;
 double emg_right;
 
+//int to check if the button is pressed
 const int Button_move_pressed = 0;
-const int Button_back_pressed = 0;
 
+//values for clockwise and counter clockwise movement
 const int cw = 1;
 const int ccw = 0;
 
-//right button
-DigitalIn button_left(PTC4);
-DigitalIn button_right(PTC6);
+
 
 int main()
 {
-    pc.printf("at the begin");
-    //directionPin_key.write(cw);
-    //PWM_key.write(0);
-
-    //aansturen.attach( &Go_flag_motor, 0.01f ); // 100 Hz // timer 0.00001f motor keeps spinning
-    //HIDScope_timer.attach(&Go_flag_HIDScope, 0.02);//0.02 had worked
-    //Filteren_timer.attach(&Go_flag_filteren,0.04);// 0.04 had worked
     while(1) {
-
-        /*
-        if(Flag_filteren) {
-            Flag_filteren = false;
-            // filter left and set bool
-            filter_signal_hid_left = Filteren_left(analog_emg_left.read());
-
-            if (filter_signal_hid_left > high_threshold) {
-                left_movement = true;
-            } else if (filter_signal_hid_left < low_threshold) {
-                left_movement = false;
-            }
-            // make filter right and set bool
-            filter_signal_hid_right = Filteren_right(analog_emg_right.read());
-
-            if (filter_signal_hid_right > high_threshold) {
-                right_movement = true;
-            } else if (filter_signal_hid_right < low_threshold) {
-                right_movement = false;
-            }
-
-
-        }
-
-
-
-        if(Flag_HIDScope) {
-            Flag_HIDScope = false;
-            HIDScope_kijken();
-
-        }
         
-
-        
-        if(flag_motor) {
-            flag_motor = false;
-            motor1_Controller();
-
-        }
-        
-       if( left_movement and right_movement == false) {
-            setpoint = making_setpoint(cw);
-
-
-        }
-       else if(right_movement and left_movement == false ) {
-            setpoint =  making_setpoint(ccw);
-        }
-        
-       else if(right_movement and left_movement) {
-            
-            PWM_key.write(1);
-            //pc.printf("I am working");
-        } 
-        else {
-            PWM_key.write(0);
-            // pc.printf("resting /n");
-        }
-        */
-        
+        //read the 'emg' values
         emg_left = left_pot.read();
         emg_right = right_pot.read();
         
+        //if left above threashold and right below; move left
         while (emg_left > 0.5 and emg_right < 0.5)
         {
             directionPin.write(cw);
             PWM.write(1);
-            pc.printf("left \n");
+            //new left value to check (in while loop condition) if it has fallen below threashold
             emg_left = left_pot.read();
         }
         
@@ -112,32 +52,28 @@
         {
             directionPin.write(ccw);
             PWM.write(1);
-            pc.printf("right \n");
+            //new right value, to check in while loop condition
             emg_right = right_pot.read();
         }
-        if (button_right.read() == Button_move_pressed)
+        if (button_key.read() == Button_move_pressed)
         {
-            pc.printf("button move \n");
             //move to key
             directionPin_key.write(cw);
-            PWM_key.write(0.3);
-            wait(0.8);
-            PWM.write(0);
-            wait(0.3);
+            PWM_key.write(1);
+            wait(0.14); //time it takes pwm of one to reach the key
+            //pause at the key for one second
+            PWM_key.write(0);
+            wait(1);
+            //move bakc to the starting position
             directionPin_key.write(ccw);
-            PWM_key.write(0.3);
-            wait(0.8);
+            PWM_key.write(1);
+            //time needs to be slightly longer than moving forward (no answer why)
+            wait(0.165f);
             
         }
-        /*
-        while (button_left.read() == Button_back_pressed)
-        {
-            //move back to start
-            pc.printf("button move backwards \n");
-            directionPin_key.write(ccw);
-            PWM_key.write(0.3);
-        }
-        */
+        
+        /// set spped values of both motors to zero so if no muscles are contracted, no motors move
+        //more of a safety catch than actually necessary
         PWM_key.write(0);
         PWM.write(0);
     }