Diff: main.cpp

Revision:

17:80316a7a917a

Parent:

16:58b0df053d45

Child:

18:7178416f2db5

--- a/main.cpp	Fri Oct 28 12:54:35 2016 +0000
+++ b/main.cpp	Mon Oct 31 12:39:41 2016 +0000
@@ -20,7 +20,7 @@
 BiQuad bq1(0.06463239794, 0.12926479589, 0.06463239794,-1.16338171052, 0.42191097989);
 BiQuad bq2(0.07902502847, 0.15805005694, 0.07902502847,-1.42439823874, 0.7409311811);
 
-//Serial pc(USBTX,USBRX);
+Serial pc(USBTX,USBRX);
 Ticker Controller;
 
 bool Controller_Flag=0;
@@ -73,20 +73,21 @@
 Timeout Lift_Timeout;
 bool Lift_Timeout_Switch = true;
 
+// state machine variables
 float statechange_threshold = 0.6;
 bool binary_norm_emg_2 = 0;        
 bool binary_norm_emg_2_previous = 0;
-states scoopstate = STATE_MOVE;
+states scoopstate = STATE_MOVE;  // all states are defined in one place in emg.h
 bool state_resettime_value = 1;
 Timeout state_resettime;
 DigitalOut LED_STATE_MOVE(D15);
 DigitalOut LED_STATE_GRAB(D14);
 Timeout controlstarterTimeout;
 
+//callable functions
 void Slide_Controller();
 void Lift_Controller();
 void Ticker_Flag();
-
 void set2true();
 void change_scoopstate();
 void start_controlling();
@@ -102,6 +103,7 @@
     Lift_Input_force =  Potmeter.read();
     Slide_Input_force = Potmeter2.read();
     
+    // define the filters used in main
     notch_50_0.add( &bq03 ).add( &bq04 ).add( &bq05 );
     notch_50_1.add( &bq13 ).add( &bq14 ).add( &bq15 );
     notch_50_2.add( &bq23 ).add( &bq24 ).add( &bq25 );
@@ -112,11 +114,11 @@
     low_pass_1.add( &bq19 ).add( &bq110 ).add( &bq111 );
     low_pass_2.add( &bq29 ).add( &bq210 ).add( &bq211 );
     
+    //call the timeouts for the startup states and the tickers for reading the emgs
     change_state.attach( &calibrate,1);
     change_state2.attach( &run,11);
     controlstarterTimeout.attach(&start_controlling,11);
     emgSampleTicker.attach( &emgSample, 0.005); //200Hz
-    
     ServoPWMpin.period(0.01f);                          // 0.01 second period
     
     while (true) {