Diff: main.cpp

Revision:

7:d55569b92f30

Parent:

6:1518fccc5616

Child:

8:151e43b99156

--- a/main.cpp	Mon Oct 26 11:13:37 2015 +0000
+++ b/main.cpp	Mon Oct 26 12:07:05 2015 +0000
@@ -75,7 +75,6 @@
 double          cali_max2                   = 0;                            // Declares max y2.
 double          cali_array1[2560]           = {};                           // Array to store values in for the 5 seconds calibartion for y1.
 double          cali_array2[2560]           = {};                           // Array to store values in for the 5 seconds calibartion for y2.
-volatile bool   sample_go;                                                  // Ticker EMG function.
 bool            flag_calibration            = true;                         // Flag to start the calibration.
 
 //**************************** VARIABLES FOR FASE SWITCH ***********************************
@@ -175,7 +174,6 @@
     if(flag_calibration == false) 
     {
         hoog_laag_filter();
-        sample_go = 1;
     }
 }
 
@@ -202,16 +200,16 @@
     //************************* CONTROL 1-EMG CALIBRATION ****************************
     while(1) 
     {
-        if(sample_go) 
-        {
-            sample_go = 0;
-        }
-
         if (flag_calibration)                   // function to calibrate the emg signals from the user. It takes 5 seconds of measurements of maximum output, then takes the max and normalizes to that.
         {            
             calibration_measurements ++;
             pc.printf(" \n\n EMG Signal starting up Calibration measurement........... \n");
             
+            cali_max1 = 0;                                   // declare max y1
+            cali_max2 = 0;                                   //declare max y2
+            cali_fact1 = 0.9;                                          // calibration factor to normalize filter output to a scale of 0 - 1
+            cali_fact2 = 0.9;
+            
             wait(2);
             led_red.write(0);
             wait(0.2);
@@ -229,6 +227,7 @@
             pc.printf("\t.....Calibrating Signal of EMG 1 and 2 .......\n");
             led_red.write(0);
             led_yellow.write(1);
+            
             wait(0.5);
             pc.printf("\t......contract muscles..... \n");
 
@@ -398,12 +397,12 @@
 
                     if (y2 > minimum_contract & y2 < medium_contract) 
                     {
-                        speed_control_arm = ((v_arm/304) + 0.15*(1 -(v_arm/304)));
+                        speed_control_arm = 1;//((v_arm/304) + 0.15*(1 -(v_arm/304)));
                         motor1speed.write(speed_control_arm);
                     }
                     if (y2 > medium_contract)                // Hoger dan drempelwaarde = Actief
                     {    
-                        speed_control_arm = ((v_arm/304) + 0.15*(1 -(v_arm/304)));
+                        speed_control_arm = 1;//((v_arm/304) + 0.15*(1 -(v_arm/304)));
                         motor1speed.write(speed_control_arm);
                     }
                     if (y2 < minimum_contract)               // Lager dan drempel = Rust
@@ -421,8 +420,6 @@
                         {
                             j++;
                             wait(0.01);                                              // Problemen met EMG metingen die te hoog zijn op het begin van script na calibratie. vandaar ff wachten en de sample loop een paar keer doorlopen.
-                            Encoderread1 = wheel1.getPulses();
-                            pos_arm = (Encoderread1/((64.0*131.0)/360.0));   // Omrekenen naar graden van arm
 
                             if( j > N) 
                             {
@@ -476,6 +473,7 @@
                         if (y1> maximum_leftbiceps) 
                         {
                             magnet.write(off);
+                            wait(0.1);
                             motor1speed.write(relax);
                             fase = 3;
                             pc.printf("Van fase 2 naar fase 3\n");
@@ -551,10 +549,10 @@
                                 board = false;
                                 wait(2);
                                 games_played ++;
-                                games_played1 = games_played - (3*calibration_measurements - 3);
+                                games_played1 = games_played - (5*calibration_measurements - 5);
                                 pc.printf("Games played total count = %i and loop %i\n",games_played,games_played1);
 
-                                if(games_played1 == 3) 
+                                if(games_played1 == 5) 
                                 {
                                     flag_calibration = true;
                                     while(t)