Diff: main.cpp

Revision:

21:1da43fdbd254

Parent:

20:bd9495b31f50

Child:

22:5d956c93b3ae

--- a/main.cpp	Mon Oct 22 13:00:11 2018 +0000
+++ b/main.cpp	Mon Oct 22 13:44:40 2018 +0000
@@ -27,7 +27,7 @@
 
 //HIDscope
 Ticker      sample_timer;
-HIDScope    scope( 2 );
+HIDScope    scope( 3 );
 
 //Global variables
 int encoder     = 0;                   //Starting point encoder
@@ -41,7 +41,7 @@
 double movAg0,movAg1,movAg2;                                                                     //outcome of MovAg
 
 //calibration
-static int x = -1;
+int x = -1;
 int emg_cal = 0;
 const int sizeCal = 2000;
 double StoreCal0[sizeCal], StoreCal1[sizeCal], StoreCal2[sizeCal];
@@ -80,6 +80,7 @@
     /* Set the sampled emg values in channel 0 (the first channel) and 1 (the second channel) in the 'HIDScope' instance named 'scope' */
     scope.set(0, emg0_in.read() );
     scope.set(1, emg1_in.read() );
+    scope.set(2, emg2_in.read() );
     /* Repeat the step above if required for more channels of required (channel 0 up to 5 = 6 channels) 
     *  Ensure that enough channels are available (HIDScope scope( 2 ))
     *  Finally, send all channels to the PC at once */
@@ -92,7 +93,7 @@
     double emg0          = emg0_in.read();
     double bandpass0     = emg0band.step(emg0);
     double absolute0     = fabs(bandpass0);
-    double notch0        = notch1.step(absolute0);
+    double emgfilter0    = notch1.step(absolute0);
 }
 
 void EMGFilter1()
@@ -100,7 +101,7 @@
     double emg1          = emg1_in.read();
     double bandpass1     = emg1band.step(emg1);
     double absolute1     = fabs(bandpass1);
-    double notch1        = notch2.step(absolute1);
+    double emgfilter1    = notch2.step(absolute1);
 }
 
 void EMGFilter2()
@@ -108,7 +109,7 @@
     double emg2          = emg2_in.read();
     double bandpass2     = emg2band.step(emg2);
     double absolute2     = fabs(bandpass2);
-    double notch2        = notch3.step(absolute2);
+    double emgfilter2    = notch3.step(absolute2);
 }
 
 void MovAg()                                        //Calculate moving average (MovAg)
@@ -195,7 +196,7 @@
             {
                 StoreCal0[j] = emgfilter0;
                 sum+=StoreCal0[j];
-                //wait(0.001f);
+                wait(0.001f);
             }
             Mean0       = sum/sizeCal;
             Threshold0  = Mean0/2;
@@ -208,7 +209,7 @@
             {
                 StoreCal1[j] = emgfilter1;
                 sum+=StoreCal1[j];
-                //wait(0.001f);
+                wait(0.001f);
             }
             Mean1       = sum/sizeCal;
             Threshold1  = Mean1/2;
@@ -221,7 +222,7 @@
             {
                 StoreCal1[j] = emgfilter2;
                 sum+=StoreCal2[j];
-                //wait(0.001f);
+                wait(0.001f);
             }
             Mean2       = sum/sizeCal;
             Threshold2  = Mean2/2;
@@ -230,7 +231,7 @@
         case 3:                                     //EMG is calibrated, robot can be set to Home position.
         {
             emg_cal = 1;
-            //wait(0.001f);
+            wait(0.001f);
             break;
         }
         default:                                    //Ensures nothing happens if x is not 0,1 or 2.
@@ -295,18 +296,19 @@
 { 
     //pc.baud(115200);
     //pc.printf("hello\n\r");
-    sample_timer.attach(&sample, 0.002);
     
     ledr = 0;       //Begin led = red, first state of calibration
     ledb = 1;
     ledg = 1;
     
+    sample_timer.attach(&sample, 0.002);        //HIDscope 
+    
     filter_tick.attach(&emg_filtered,T);        //EMG signals filtered + moving average every T sec.
     button1.rise(switch_to_calibrate);          //Switch state of calibration (which muscle)
     wait(0.2f);
     button2.rise(calibrate);                    //calibrate threshold for 3 muscles
     wait(0.2f);
-            
+       
     pwmpin1.period_us(60);                      //60 microseconds PWM period, 16.7 kHz 
 
     encoderA.rise(&encoderA_rise);
@@ -370,5 +372,4 @@
         
     }
 }
- while(1) {}
 }