Revision 29:1c5254b27851, committed 2016-11-04

Comitter:

Jankoekenpan

Date:

Fri Nov 04 13:26:28 2016 +0000

Parent:

28:09b08753498c

Commit message:

documented the processEMG function

Changed in this revision

--- a/arm.cpp	Thu Nov 03 18:23:51 2016 +0000
+++ b/arm.cpp	Fri Nov 04 13:26:28 2016 +0000
@@ -39,7 +39,7 @@
     // Counterclockwise rotation
     if (referenceVelocity < 0) {
         motorDirection = counterClockwise;
-        velocity = (referenceVelocity < (-1 * maxAllowedVelocity))? (-1 * maxAllowedVelocity):referenceVelocity;
+        velocity = (referenceVelocity < (-1 * maxAllowedVelocity)) ? (-1 * maxAllowedVelocity) : referenceVelocity;
     // Clockwise rotation
     } else {
         motorDirection = clockwise;

--- a/test_main.cpp	Thu Nov 03 18:23:51 2016 +0000
+++ b/test_main.cpp	Fri Nov 04 13:26:28 2016 +0000
@@ -51,7 +51,9 @@
 
 const float sample_frequency = 500.0f; //Hz
 const float Ts = 1.0f / sample_frequency;
-volatile int count = 0; //how many signals have passed. resets at 50.
+
+//Counts how many signals have passed. Resets at 50. See processEMG.
+volatile int count = 0;
 
 /*Function used to send data to the motor*/
 void (*motorFunc)(bool, bool);
@@ -243,24 +245,40 @@
 }
 
 // ===== The main functions called by our main ticker ======
-        
+
+/**
+ * processEMG function
+ * This function is called by our ticker.
+ * This function measures emg and applies the filters.
+ * out of 50 emg values, a 1 or 0 is chosen depending on which occurs the most
+ * then that value is used in the motor func.
+ */        
 void processEMG() {
+    //read emg
     float emgOne = emg1.read();
     float emgTwo = emg2.read();
+    
+    //apply notch filter
     float notch1 = bqc1.step( emgOne );      
     float notch2 = bqc2.step( emgTwo );  
-       
+    
+    //then apply rectifier   
     float rect1 = rectifier(notch1);
     float rect2 = rectifier(notch2);
     
+    //then apply moving average
     float filtered1 = movingAverage( rect1, emgCache1, numEmgCache);
     float filtered2 = movingAverage( rect2, emgCache2, numEmgCache);
 
+    //decide on wether the signal was strong enough (1) or too weak (0)
     int decide1 = decide(mean(emgCache1, numEmgCache ), threshold1);
     int decide2 = decide(mean(emgCache2, numEmgCache ), threshold2);
+    
+    //add boolean value in front of the boolean arrays
     addFirst(decide1, decided1, numEmgCache);
     addFirst(decide2, decided2, numEmgCache);   
 
+    //after 50 calls of this function, control the motor.
     if (count >= 49) {
         int counter1=0;
         int counter2=0;
@@ -270,10 +288,15 @@
             if(decided2[i] == 0)
                 ++counter2;        
         }
+        // avgDecide1 = true if the decided1 array contains mostly ones, otherwise false.
         int avgDecide1 = counter1 > std::ceil(numEmgCache/2.0) ? 0: 1;
+        // avgDecide2 = true if the decided2 array contains mostly ones, otherwise false.
         int avgDecide2 = counter2 > std::ceil(numEmgCache/2.0) ? 0: 1;
+        
+        // Use these values to contorl the motor.
         sendToMotor(motorFunc,avgDecide1, avgDecide2);
    
+        //reset function call count to 0
         count =0;
     } else {
         count++;