Puppet Master System
This code is put on the glove. It reads the data from the flex sensors and outputs the appropriate ASCII characters that tell how the robot should move.
Revision 0:3e074f9f4063, committed 2018-04-26
- Comitter:
- fyousuf3
- Date:
- Thu Apr 26 15:07:05 2018 +0000
- Commit message:
- This looks at the Flex Sensors and outputs ASCII characters that relay what speed the robot should move
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PinDetect.lib Thu Apr 26 15:07:05 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/AjK/code/PinDetect/#cb3afc45028b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Apr 26 15:07:05 2018 +0000
@@ -0,0 +1,190 @@
+#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;
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Apr 26 15:07:05 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/5aab5a7997ee \ No newline at end of file