File content as of revision 0:3e074f9f4063:

#include "mbed.h"
#include "PinDetect.h"
 
//Analog input. Finger 1-5.  Thumb is 1.  Pinky is 5.
AnalogIn a1(p16);
AnalogIn a2(p17);
AnalogIn a3(p18);
AnalogIn a4(p19);
AnalogIn a5(p20);

//Coordinator Setup for XBEE
Serial xbee1(p9,p10);
DigitalOut rst1(p11);

DigitalOut myled1(LED1);
DigitalOut myled2(LED2);
DigitalOut myled3(LED2);
DigitalOut myled4(LED2);

// Global count variable
float volatile af1=0.5;
float volatile af2=0.5;
float volatile af3=0.5;
float volatile af4=0.5;
float volatile af5=0.5;
 
float volatile afs1=0.5;
float volatile afs2=0.5;
float volatile afs3=0.5;
float volatile afs4=0.5;
float volatile afs5=0.5;
 
Serial pc(USBTX, USBRX);
 
//calibration constants
float const c1_low = 0.524;
float const c2_low = 0.469;
float const c3_low = 0.477;
float const c4_low = 0.424;
float const c5_low = 0.471;
 
float const c1_high = 0.661;
float const c2_high = 0.642;
float const c3_high = 0.693;
float const c4_high = 0.690;
float const c5_high = 0.713;
 
//function prototypes:
float myConstrain(float val, float min, float max);
float myScale(float val, float min, float max);
float myConstrainScale(float val, float min, float max);
 
int main() {
    const float dampingCoeff = 0.5; //tweak this
    rst1 = 0;   //Set reset pin to 0
    myled1 = 0;
    myled2 = 0;
    myled3 = 0;
    myled4 = 0;
    wait_ms(1);
    rst1 = 1;   //Set reset pin to 1
    wait_ms(1);
    
    while(1) {        
        //filter:
        af1 += dampingCoeff * ( a1 - af1 );
        af2 += dampingCoeff * ( a2 - af2 );
        af3 += dampingCoeff * ( a3 - af3 );
        af4 += dampingCoeff * ( a4 - af4 );
        af5 += dampingCoeff * ( a5 - af5 );
        
        //constrain and scale:
        afs1 = myConstrainScale(af1, c1_low, c1_high);
        afs2 = myConstrainScale(af2, c2_low, c2_high);
        afs3 = myConstrainScale(af3, c3_low, c3_high);
        afs4 = myConstrainScale(af4, c4_low, c4_high);
        afs5 = myConstrainScale(af5, c5_low, c5_high);
        

        if (0.3 >= afs1 > 0.5) {  // Thumb
            xbee1.putc ('A');  // Move back speed 1
            
            myled1 = 1;
            myled2 = 0;
            myled3 = 0;
            myled4 = 0;
        } 
        else if (afs1 >= 0.5) { // Thumb
            xbee1.putc ('B');  // Move back speed 2
            
            myled1 = 1;
            myled2 = 0;
            myled3 = 0;
            myled4 = 0;
        }
        else if (0.3 >= afs2 > 0.5) { // Pointer Finger
            xbee1.putc ('C');  // Move right speed 1
            
            myled1 = 0;
            myled2 = 1;
            myled3 = 0;
            myled4 = 0;
        }
        else if (afs2 >= 0.5) { // Pointer Finger
            xbee1.putc ('D');  // Move right speed 2
            
            myled1 = 0;
            myled2 = 1;
            myled3 = 0;
            myled4 = 0;
        }
        else if (0.3 >= afs3 > 0.5) { // Middle Finger
            xbee1.putc ('E');  // Move Forward speed 1
            
            myled1 = 0;
            myled2 = 0;
            myled3 = 1;
            myled4 = 0;
        }
        else if (afs3 >= 0.5) { // Middle Finger
            xbee1.putc ('F');  // Move Forward speed 1
            
            myled1 = 0;
            myled2 = 0;
            myled3 = 1;
            myled4 = 0;
        }
        else if (0.3 >= afs4 > 0.5) { //Ring Finger
            xbee1.putc ('G');  // Move Left speed 1
            
            myled1 = 1;
            myled2 = 0;
            myled3 = 0;
            myled4 = 0;
        }
        else if (afs4 >= 0.5) { // Ring Finger
            xbee1.putc ('H');  // Move Left speed 2
            
            myled1 = 1;
            myled2 = 0;
            myled3 = 0;
            myled4 = 0;
        }
        else if (afs5 >= 0.5) { // Pinky
            xbee1.putc ('I');  // Move back speed 2
            
            myled1 = 1;
            myled2 = 1;
            myled3 = 1;
            myled4 = 1;
        }
        else {                // Otherwise just stop
            xbee1.putc ('I'); 
            
            myled1 = 0;
            myled2 = 0;
            myled3 = 0;
            myled4 = 0;
        }
        
    }
}
 
 
float myConstrain(float val, float min, float max) {
    float output = 0;
    
    if (val < min) {
        output = min;
    } else if (val > max) {
        output = max;
    } else {
        output = val;
    }
    return output;
}
 
float myScale(float val, float min, float max) { //not used
    float output = (val - min) / (max - min);
    return output;
}
 
float myConstrainScale(float val, float min, float max) {
    float output = 0;
    
    val = myConstrain(val, min, max);
    output = (val - min) / (max - min);
    
    return output;
}