Diff: main.cpp

Revision:

127:831f03471efb

Parent:

126:56866cefaa08

Child:

128:c583aff5a7bf

--- a/main.cpp	Thu Oct 29 20:06:41 2015 +0000
+++ b/main.cpp	Thu Oct 29 22:46:30 2015 +0100
@@ -8,12 +8,12 @@
 */
 
 #include "mbed.h"
-#include "config.h"  // settings and pin configurations
-#include "actuators.h"
-#include "buttons.h"
-#include "debug.h"
-#include "emg.h"
-#include "serialcom.h"
+#include "config.h"     // settings and pin configurations
+#include "actuators.h"  // all the actuator related functions
+#include "buttons.h"    // reading switches and buttons
+#include "debug.h"      // HIDscope
+#include "emg.h"        // EMG
+#include "serialcom.h"  // Communication with web app
 
 Ticker switchesTick, debugTick, motorTick, EMGTick, safetyTick, serialTick;
 volatile bool switches_go=false, debug_go=false, motor_go=false, emg_go=false, safety_go=false, serial_go=false;
@@ -26,73 +26,67 @@
 void serial_activate(){serial_go=true;};
 
 void tickerAttach(){
-    EMGTick.attach(&emg_activate, 0.005f);
     switchesTick.attach(&switches_activate, 0.02f);
-    debugTick.attach(&debug_activate, motorCall);
+    // debugTick.attach(&debug_activate, motorCall);
     motorTick.attach(&motor_activate, motorCall);
     safetyTick.attach(&safety_activate, 0.001f);
     
 }
 
 double motorCall = 0.01; // set motor frequency global so it can be used for speed.
-const int sample = 0;  // Constant for mode switching for program readability
-const int normalize = 1; // Constant for mode switching for program readability
-bool mode = normalize; // Set program mode
+const int sample = 0;  // Constant for EMG mode switching
+const int normalize = 1; // Constant for EMG mode switching
+bool mode = normalize; 
 bool tickersActivated = false;
-bool calReady = false; // flag for calibration ready
+bool calReady = false; // flag for motor calibration
 
-bool usePotmeters = true;
-bool controlAngle = false;
-bool controlDirection = true;
+bool usePotmeters = true;  // flag for using the potmeters/EMG to control the system
+bool controlAngle = false;  // control the system using motor angles
+bool controlDirection = true; // control the system using kinematics
 
 
 int main(){
     serialInit();
     serialTick.attach(&serial_activate, 0.1f); // initialze serial communication first
+    EMGTick.attach(&emg_activate, 0.005f);  
     motorInit();
 
-
-
-
     while (true) {
-        
-        calReady = calibrateMotors();
-        
-        if(serial_go){
+        if(serial_go){  // communication between serial and the webpage
             serial_go=false;
             serialCom();
         }
-
-        if(calReady && !tickersActivated){ // when done with calibration, start tickers
+        if(startCalibration & !calReady){ // start calibration
+            calReady = calibrateMotors();
+        }
+        if(emg_go){
+            if(enableEMG){
+                emg_go=false;
+                readEMG(); 
+            }
+        }
+        if(calReady && !tickersActivated){ // when done with calibration, start rest of tickers
             tickerAttach();
             tickersActivated = true;
         }
-
-        if(emg_go){
-            emg_go=false;
-            readEMG();
+        if(safety_go){
+            safety_go=false;
+            safety(); // springs at the side to constrain arm movement
+        }
+        if(switches_go){
+            switches_go=false;
+            checkSwitches(); // read potmeters and buttons on the motor board
         }
-        if(mode==0){  // wait until EMG is done with calibration
-            if(safety_go){
-                safety_go=false;
-                safety();
-            }
-            if(emg_go){
-                emg_go=false;
-                readEMG();
-            }
-            if(switches_go){
-                switches_go=false;
-                checkSwitches();
-            }
-            if(debug_go){
-                debug_go=false;
-                debugProcess();
-            }
-            if(motor_go){
-                motor_go=false;
-                motorControl();
-            }
+        if(debug_go){
+            debug_go=false;
+            debugProcess(); // send data to HIDscope
+        }
+        if(motor_go){
+            motor_go=false;
+            motorControl();  // write data to the motors
+        }
+
+        if(mode==0){ 
 
         }
     }