Diff: main.cpp

Revision:

2:c32de830a7d9

Parent:

1:dea6b70cd991

Child:

3:35103d6e7d2a

--- a/main.cpp	Tue Nov 01 17:04:39 2016 +0000
+++ b/main.cpp	Wed Nov 02 09:32:11 2016 +0000
@@ -18,10 +18,11 @@
 double EMGright, EMGleft, inR;
 int EMGgain=1; 
 //set initial conditions
-double biceps_l = 0;
-double biceps_r = 0;
+//double biceps_l = 0;
+//double biceps_r = 0;
 double outRenvelope, outLenvelope;
-double T;
+int T=4;
+
 
 
 void filter_timer_act(){filter_timer_go=true;};
@@ -44,8 +45,10 @@
 BiQuad bq2L(9.8239e-01,-1.9648e+00,9.8239e-01,-1.9645e+00,9.6508e-01);
 // Low pass Butterworth filter 2nd order, Fc = 8;
 BiQuad bq3L(5.6248e-05,1.1250e-04,5.6248e-05,-1.9787e+00,9.7890e-01);
+
 // In the following: R is used for right arm, L is used for left arm!
-void FilteredSample()
+
+void FilteredSample(int &Tout)
 {   
     double inLout = emg0.read();
     double inRout = emg1.read();
@@ -58,15 +61,15 @@
     double outLrect = fabs(outLfilter1);
     double envelopeL = bcq2L.step(outLrect);
     
-    biceps_l = (double) outLenvelope * EMGgain; //emg0.read();     //velocity or reference position change, EMG with a gain
-    biceps_r = (double) outRenvelope * EMGgain; //emg1.read();
+    double biceps_l = (double) outLenvelope * EMGgain; //emg0.read();     //velocity or reference position change, EMG with a gain
+    double biceps_r = (double) outRenvelope * EMGgain; //emg1.read();
     if (biceps_l > 0.04 && biceps_r > 0.04){
         //both arms activated: stamp moves down
         //pc.printf("Stamp down\n\r");
         //pc.printf("right: %f\n\r",biceps_r);
         //pc.printf("left:  %f\n\r",biceps_l);
         //wait(0.5);
-        T = -1;
+        Tout = -1;
         led1=!led1;//blink purple
         led2=!led2;
         }
@@ -76,7 +79,7 @@
         //pc.printf("right: %f\n\r",biceps_r);
         //pc.printf("left:  %f\n\r",biceps_l);
         //wait(0.5);
-         T  = -2;
+        Tout  = -2;
         led2=1;//off
         led1=0;//on    red
         }
@@ -86,7 +89,7 @@
         //pc.printf("right: %f\n\r",biceps_r);
         //pc.printf("left:  %f\n\r",biceps_l);
         //wait(0.5);
-         T = 2;
+        Tout = 2;
         led2=0;//on    blue
         led1=1;//off
         }
@@ -96,7 +99,7 @@
         led2 = 1;  //off
         //pc.printf("Nothing...\n\r");
         //wait(0.5);
-         T = 0;
+        Tout = 5;
         }
 
     /*pc.printf("EMG right = %f\n\r",inRout);
@@ -108,11 +111,11 @@
     scope.set(1, inLout);
     scope.set(2, envelopeR);
     scope.set(3, envelopeL);
-    scope.set(4, T);
+    scope.set(4, Tout);
     
     scope.send();
     // To indicate that the function is working, the LED is toggled*/
-    led2 = !led2;
+    //led2 = !led2;
 }
 
 /*void sendValues( double outRenvelope, double outLenvelope){
@@ -181,7 +184,7 @@
         {
         if (filter_timer_go){
                 filter_timer_go=false;
-                FilteredSample();}
+                FilteredSample(T);}
         /*if (send_timer_go){
                 send_timer_go=false;
                 sendValues(outRenvelope, outLenvelope);}*/