Diff: main.cpp

Revision:

44:145827f5b091

Parent:

42:b9d26b1218b0

Child:

45:198654304238

diff -r aa2e8b741096 -r 145827f5b091 main.cpp
--- a/main.cpp	Fri Oct 23 09:34:49 2015 +0000
+++ b/main.cpp	Fri Oct 23 10:12:47 2015 +0000
@@ -94,7 +94,14 @@
 double xdir, ydir;                              //EMG reference position directions
 double xpower, ypower;                          //EMG reference magnitude
 double dx, dy;                                  //integration of EMG (velocity) to position
-        
+//Threshold moving average
+const int window=100;                           //00 samples
+int i=0;                                        //buffer index 
+double movavg1[window];                         //moving average arrays
+double movavg2[window];
+double movavg3[window];
+double movavg4[window];
+       
 int muscle;             //Muscle selector for MVC measurement, 1 = first emg etc.
 double calibrate_time;  //Elapsed time for each MVC measurement
 
@@ -491,26 +498,7 @@
     //scope.set(2,flexor_power);
     //scope.set(3,extens_power);
     scope.send();
-    
-    // on - offset. If above a value it is on. 
-    
-    
-    /* alternative for lowpass filter: moving average
-    window=30;                      //30 samples
-    int i=0;                        //buffer index
-    bicepsbuffer[i]=biceps_power    //fill array
-    
-    i++;                             
-    if(i==window){
-        i=0;
-    }
-    
-    for(int x = 0; x < window; x++){
-        avg1 += bicepsbuffer[x];
-        }
-    avg1 = avg1/window;    
-    */
-    
+       
 }
 
 
@@ -558,10 +546,10 @@
         shoulder_limit.rise(&shoulder);
         elbow_limit.rise(&elbow);
         while(!done1){
-        pwm_motor1.write(0.2);     //move upper arm slowly cw
+        pwm_motor1.write(0.1);     //move upper arm slowly cw
         }
         if(done1==true){
-            pwm_motor2.write(0.2);     //move forearm slowly cw
+            pwm_motor2.write(0.1);     //move forearm slowly cw
         }
         
         if(done1 && done2){
@@ -834,9 +822,26 @@
     scope.set(3,triceps);
     scope.send();
     
+    //threshold detection! buffer or two thresholds? If average of 100 samples > threshold, then muscle considered on.
+    /* 
     
-    //threshold detection! buffer or two thresholds?
-       //TODO
+    movavg1[i]=biceps;   //fill array with 100 normalized samples
+    movavg2[i]=triceps;
+    movavg3[i]=flexor;
+    movavg4[i]=extens;
+    i++;                             
+    if(i==window){       //if array full,set i to 0
+        i=0;
+    }
+    
+    for(int j = 0; j < window; j++){        // sum all values in the array
+        th1 += movavg1[j];
+        th2 += movavg2[j];
+        th3 += movavg3[j];
+        th4 += movavg4[j];
+        }
+    th1 = th1/window;                       //divide sum by number of samples -> average
+    */
     
     //analyze emg (= velocity)
     if (biceps>triceps && biceps > 0.2){