Diff: main.cpp

Revision:

34:13fac02ef324

Parent:

33:90404e64d844

Child:

35:e82834e62e44

--- a/main.cpp	Tue Oct 29 13:18:37 2019 +0000
+++ b/main.cpp	Tue Oct 29 13:50:28 2019 +0000
@@ -49,9 +49,7 @@
 double emg1;
 double emg1_env;
 double emg1_MVC;
-double emg1_MVC_stdev;
 double emg1_rest;
-double emg1_rest_stdev;
 double emg1_factor;
 double emg1_th;
 double emg1_out;
@@ -62,9 +60,7 @@
 double emg2;
 double emg2_env;
 double emg2_MVC;
-double emg2_MVC_stdev;
 double emg2_rest;
-double emg2_rest_stdev;
 double emg2_factor;
 double emg2_th;
 double emg2_out;
@@ -75,9 +71,7 @@
 double emg3;
 double emg3_env;
 double emg3_MVC;
-double emg3_MVC_stdev;
 double emg3_rest;
-double emg3_rest_stdev;
 double emg3_factor;
 double emg3_th;
 double emg3_out;
@@ -143,7 +137,7 @@
     int vect_n = vect.size();
     
     for (int i = 0; i < vect_n; i++) {
-        if (vect[i] < curr_max) { curr_max = vect[i]; };
+        if (vect[i] > curr_max) { curr_max = vect[i]; };
     }
     return curr_max;
 }
@@ -274,28 +268,15 @@
     switch( emg_curr_state ) {
         case emg_cal_MVC:
             emg1_MVC = getMax(emg1_cal); // Store max value of MVC globally
-            // emg1_MVC_stdev = getStdev(emg1_cal, emg1_MVC); // Store MVC stdev globally
-
             emg2_MVC = getMax(emg2_cal); // Store max value of MVC globally
-            // emg2_MVC_stdev = getStdev(emg2_cal, emg2_MVC); // Store MVC stdev globally
-
             emg3_MVC = getMax(emg3_cal); // Store max value of MVC globally
-            // emg3_MVC_stdev = getStdev(emg3_cal, emg3_MVC); // Store MVC stdev globally
-
 
             emg_MVC_cal_done = true; // To set up transition guard to operation mode
             break;
         case emg_cal_rest:
             emg1_rest = getMean(emg1_cal); // Store rest EMG globally
-            emg1_rest_stdev = getStdev(emg1_cal, emg1_rest); // Store rest stdev globally
-
             emg2_rest = getMean(emg2_cal); // Store rest EMG globally
-            emg2_rest_stdev = getStdev(emg2_cal, emg2_rest); // Store MVC stdev globally
-
             emg3_rest = getMean(emg3_cal); // Store rest EMG globally
-            emg3_rest_stdev = getStdev(emg3_cal, emg3_rest); // Store MVC stdev globally
-
-
             emg_rest_cal_done = true; // To set up transition guard to operation mode
             break;
     }
@@ -363,13 +344,12 @@
 
     // Do stuff until end condition is met
     // Set HIDScope outputs
-    scope.set(0, emg1 ); // One notch filtered EMG to check 50Hz disturbance
+    scope.set(0, emg1 );
     scope.set(1, emg1_env );
     //scope.set(2, emg2_env );
     //scope.set(3, emg3_env );
     scope.send();
 
-
     // State transition guard
     if ( timerCalibration.read() >= Tcal ) { // After interval Tcal the calibration step is finished
         sampleNow = false; // Disable signal sampling in sampleSignal()
@@ -388,7 +368,7 @@
     // Entry function
     if ( emg_state_changed == true ) {
         emg_state_changed = false; // Disable entry functions
-        double margin_percentage = 10; // Set up % margin for rest
+        double margin_percentage = 5; // Set up % margin for rest
 
         emg1_factor = 1 / emg1_MVC; // Factor to normalize MVC
         emg1_th = emg1_rest * emg1_factor + margin_percentage/100; // Set normalized rest threshold
@@ -409,12 +389,12 @@
     // Set normalized EMG output signal (CAN BE MOVED TO EXTERNAL FUNCTION BECAUSE IT IS REPEATED 3 TIMES)
     if ( emg1_norm < emg1_th ) { // If below threshold, emg_out = 0 (ignored)
         emg1_out = 0.0;
-    } else if ( emg1_norm > 1.0f ) { // If above MVC (due to filtering perhaps), emg_out = 1 (max value)
+    } else if ( emg1_norm > 1.0f ) { // If above MVC (e.g. due to filtering), emg_out = 1 (max value)
         emg1_out = 1.0;
     } else { // If in between threshold and MVC, scale EMG signal accordingly
         // Inputs may be in range       [emg_th, 1]
         // Outputs are scaled to range  [0,      1]
-        emg1_out = rescale(emg1_norm, emg1_th, 1, 0, 1);
+        emg1_out = rescale(emg1_norm, 0, 1, emg1_th, 1);
     }
 
     // Idem for emg2
@@ -423,7 +403,7 @@
     } else if ( emg2_norm > 1.0f ) {
         emg2_out = 1.0;
     } else {
-        emg2_out = rescale(emg2_norm, emg2_th, 1, 0, 1);
+        emg2_out = rescale(emg2_norm, 0, 1, emg2_th, 1);
     }
 
     // Idem for emg3
@@ -432,7 +412,7 @@
     } else if ( emg3_norm > 1.0f ) {
         emg3_out = 1.0;
     } else {
-        emg3_out = rescale(emg3_norm, emg3_th, 1, 0, 1);
+        emg3_out = rescale(emg3_norm, 0, 1, emg3_th, 1);
     }
 
     // Set HIDScope outputs
@@ -514,21 +494,13 @@
     } else {
         led_r = 0; // LED on
     }
+    
     emg_curr_state = emg_wait; // Start off in EMG Wait state
-
-    tickGlobal.attach( &tickGlobalFunc, Ts );
-
-
+    tickGlobal.attach( &tickGlobalFunc, Ts ); // Start global ticker
 
     while(true) {
-
-        // Show that system is running
-        // led_g = !led_g;
-        // pc.printf("currentState: %i  vectors size: %i  %i  %i\r\n", emg_curr_state, emg1_cal_size, emg2_cal_size, emg3_cal_size);
         pc.printf("emg_state: %i   emg1_env: %f   emg1_out:  %f   emg1_th: %f   emg1_factor: %f\r\n", emg_curr_state, emg1_env, emg1_out, emg1_th, emg1_factor);
         pc.printf("               emg1_MVC: %f   emg1_rest: %f \r\n", emg1_MVC, emg1_rest);
-        //pc.printf("               emg2_env: %f   emg2_out: %f   emg2_th: %f   emg2_factor: %f\r\n", emg2_env, emg2_out, emg2_th, emg2_factor);
-        //pc.printf("               emg3_env: %f   emg3_out: %f   emg3_th: %f   emg3_factor: %f\r\n", emg3_env, emg3_out, emg3_th, emg3_factor);
         wait(0.5f);
     }
 }
\ No newline at end of file