Diff: main.cpp

Revision:

22:1ba637601dc3

Parent:

21:d6a46315d5f5

Child:

23:e9b1b426cde6

--- a/main.cpp	Tue Oct 13 10:02:48 2015 +0000
+++ b/main.cpp	Tue Oct 13 12:55:33 2015 +0000
@@ -138,6 +138,7 @@
     double emg_extens = emg4.read();    //Extensor
     
     //Filter: high-pass -> notch -> rectify -> lowpass or moving average
+    // Can we use same biquadFilter (eg. highpass) for other muscles or does each muscle need its own biquad?
     biceps_power = highpass.step(emg_biceps); triceps_power = highpass.step(emg_triceps); flexor_power = highpass.step(emg_flexor); extens_power = highpass.step(emg_extens);
     biceps_power = notch1.step(biceps_power); triceps_power = notch1.step(triceps_power); flexor_power = notch1.step(flexor_power); extens_power = notch1.step(extens_power);
     biceps_power = notch2.step(biceps_power); triceps_power = notch2.step(triceps_power); flexor_power = notch2.step(flexor_power); extens_power = notch2.step(extens_power);
@@ -163,6 +164,12 @@
 //Send arm to mechanical limits, and set encoder to 0. Then send arm to starting position.
 void calibrate_arm(void)
 {
+    dir_motor1=1;   //ccw
+    dir_motor2=1;   //ccw
+    while(limitswitch != hit){
+        pwm_motor1.write(0.4);
+        pwm_motor2.write(0.4);
+    }
 }
 
 //EMG Maximum Voluntary Contraction measurement
@@ -170,6 +177,7 @@
 {
     if(muscle==1){
     start_sampling();
+    wait(1);
     
     for(int index=0; index<2500;index++){   //measure 5 seconds@500hz = 2500 samples
         if(biceps_power>bicepsMVC){
@@ -181,6 +189,7 @@
     
     if(muscle==2){
     start_sampling();
+    wait(1);
     
     for(int index=0; index<2500;index++){   //measure 5 seconds@500hz = 2500 samples
         if(triceps_power>tricepsMVC){