Revision 3:35103d6e7d2a, committed 2016-11-02

Comitter:

Marieke

Date:

Wed Nov 02 10:48:31 2016 +0000

Parent:

2:c32de830a7d9

Commit message:

Script EMG: 2 channels in Hidscope working!

Changed in this revision

--- a/main.cpp	Wed Nov 02 09:32:11 2016 +0000
+++ b/main.cpp	Wed Nov 02 10:48:31 2016 +0000
@@ -3,8 +3,8 @@
 #include "HIDScope.h"
 //#define SERIAL_BAUD 115200  // baud rate for serial communication
 
-// Serial communication with PC
-Serial pc(USBTX,USBRX);
+//Serial communication with PC
+//Serial pc(USBTX,USBRX);
 AnalogIn    emg0( A0 );
 AnalogIn    emg1( A1 );
 HIDScope    scope( 5 );
@@ -15,13 +15,15 @@
 
 volatile bool filter_timer_go=false,send_timer_go=false;
 
-double EMGright, EMGleft, inR;
+//double EMGright, EMGleft, inR;
 int EMGgain=1; 
 //set initial conditions
 //double biceps_l = 0;
 //double biceps_r = 0;
-double outRenvelope, outLenvelope;
+//double outRenvelope, outLenvelope;
 int T=4;
+double threshold_l=0.025;
+double threshold_r = 0.025;
 
 
 
@@ -61,35 +63,38 @@
     double outLrect = fabs(outLfilter1);
     double envelopeL = bcq2L.step(outLrect);
     
-    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){
+    double biceps_l = (double) envelopeL * EMGgain; //emg0.read();     //velocity or reference position change, EMG with a gain
+    double biceps_r = (double) envelopeR * EMGgain; //emg1.read();
+    if (biceps_l > threshold_l && biceps_r > threshold_r){
         //both arms activated: stamp moves down
-        //pc.printf("Stamp down\n\r");
-        //pc.printf("right: %f\n\r",biceps_r);
+        //pc.printf("Stamp down   ");
+        //pc.printf("right: %f    ",biceps_r);
         //pc.printf("left:  %f\n\r",biceps_l);
         //wait(0.5);
         Tout = -1;
+        //pc.printf("T=%d\n\r",T);
         led1=!led1;//blink purple
         led2=!led2;
         }
-    else if (biceps_l > 0.04 && biceps_r <= 0.04){
+    else if (biceps_l > threshold_l && biceps_r <= threshold_r){
         //arm 1 activated, move left
-        //pc.printf("Move left\n\r");
-        //pc.printf("right: %f\n\r",biceps_r);
+        //pc.printf("Move left    ");
+        //pc.printf("right: %f    ",biceps_r);
         //pc.printf("left:  %f\n\r",biceps_l);
         //wait(0.5);
         Tout  = -2;
+        //pc.printf("T=%d\n\r",T);
         led2=1;//off
         led1=0;//on    red
         }
-    else if (biceps_l <= 0.04 && biceps_r > 0.04){
+    else if (biceps_l <= threshold_l && biceps_r > threshold_r){
         //arm 1 activated, move right
-        //pc.printf("Move right\n\r");
-        //pc.printf("right: %f\n\r",biceps_r);
+        //pc.printf("Move right   "); 
+        //pc.printf("right: %f    ",biceps_r);
         //pc.printf("left:  %f\n\r",biceps_l);
         //wait(0.5);
         Tout = 2;
+        //pc.printf("T=%d\n\r",T);
         led2=0;//on    blue
         led1=1;//off
         }
@@ -97,9 +102,11 @@
         //wait(0.2);
         led1 = 1;
         led2 = 1;  //off
-        //pc.printf("Nothing...\n\r");
+        //pc.printf("Nothing...   ");
         //wait(0.5);
         Tout = 5;
+        //pc.printf("right: %f    ",biceps_r);
+        //pc.printf("left:  %f\n\r",biceps_l);
         }
 
     /*pc.printf("EMG right = %f\n\r",inRout);
@@ -113,11 +120,13 @@
     scope.set(3, envelopeL);
     scope.set(4, Tout);
     
+    
     scope.send();
     // To indicate that the function is working, the LED is toggled*/
     //led2 = !led2;
 }
 
+
 /*void sendValues( double outRenvelope, double outLenvelope){
     
     biceps_l = (double) outLenvelope * EMGgain; //emg0.read();     //velocity or reference position change, EMG with a gain