Diff: main.cpp

Revision:

25:07187cf76863

Parent:

24:26659f1de039

Child:

26:c9ba45bdd5c9

diff -r 26659f1de039 -r 07187cf76863 main.cpp
--- a/main.cpp	Thu Nov 03 13:40:17 2016 +0000
+++ b/main.cpp	Thu Nov 03 14:58:42 2016 +0000
@@ -4,13 +4,12 @@
 #include "MODSERIAL.h"
 
 //Define objects
-    AnalogIn    emg1_in( A0 );
+    AnalogIn    emg1_in( A0 ); /* read out the signal */
     AnalogIn    emg2_in( A1 );
     AnalogIn    emg3_in( A2 );
     DigitalIn   max_reader1( SW2 );
     DigitalIn   max_reader3( SW3 );
 
-
     Ticker      main_timer;
     Ticker      max_read1;
     Ticker      max_read3;
@@ -49,11 +48,11 @@
     double max3;
     double maxpart3;
 
-// Filter settings
+// BiQuad Filter Settings
     // Right Biceps
     BiQuad filterhigh1(9.704e-01,-1.9408,9.704e-01,-1.9389,9.427e-01); /* Filter at 10 Hz */
     BiQuad filternotch1(9.495e-01,-1.8062,9.495e-01,-1.8062,8.992e-01); /* Filter at 50 Hz */
-    BiQuad filterpeak1(1.0033,-1.984,9.852e-01,-1.9838,9.8855e-01); /* Gain peak at 11 Hz */
+    BiQuad filterpeak1(1.0033,-1.984,9.852e-01,-1.9838,9.8855e-01); /* 4dB Gain peak at 11 Hz */
     BiQuad filterlow1(1.368e-03,2.737e-03,1.369e-03,-1.9219,9.274e-01); /* Filter at 15 Hz */
     // Left Biceps
     BiQuad filterhigh2(9.704e-01,-1.9408,9.704e-01,-1.9389,9.427e-01);
@@ -67,20 +66,20 @@
     BiQuad filterlow3(1.368e-03,2.737e-03,1.369e-03,-1.9219,9.274e-01);
     //
 
-// Finding max values for correct motor switch
+// Finding max values for correct motor switch if the button is pressed
 void get_max1(){
     if (max_reader1==0){
             green = !green;
             red = 1;
             blue = 1;
-            for(int n=0;n<2000;n++){
-                        
-            emg1 = emg1_in.read();
-            emg1highfilter = filterhigh1.step(emg1);
-            emg1notchfilter = filternotch1.step(emg1highfilter);
-            emg1abs = fabs(emg1notchfilter);
-            emg1lowfilter = filterlow1.step(emg1abs);
-            emg1peak = filterpeak1.step(emg1lowfilter);
+            
+            for(int n=0;n<2000;n++){  /* measure 2000 samples and filter it */
+            emg1 = emg1_in.read();      /* read out emg */
+            emg1highfilter = filterhigh1.step(emg1); /* high pass filtered */
+            emg1notchfilter = filternotch1.step(emg1highfilter); /* notch filtered */
+            emg1abs = fabs(emg1notchfilter); /* take the absolute value */
+            emg1lowfilter = filterlow1.step(emg1abs); /* low pass filtered */
+            emg1peak = filterpeak1.step(emg1lowfilter); /* 4dB gain peak */
             
             if (max1<emg1peak){
                 max1 = emg1peak;
@@ -90,8 +89,8 @@
             wait(0.2f);
             green = 1;
     }
-    maxpart1 = 0.28*max1;
-    maxpart2 = 0.18*max1;
+    maxpart1 = 0.25*max1;
+    maxpart2 = 0.15*max1;
 }
 
 void get_max3(){
@@ -116,7 +115,7 @@
             wait(0.2f);
             red = 1;
     }
-    maxpart3 = 0.28*max3;
+    maxpart3 = 0.25*max3;
 }
 
 // Filtering & Scope
@@ -178,13 +177,13 @@
     scope.set(3, emg3peak );
     scope.set(4, maxpart3 );    
  
-    scope.send();
+    scope.send(); /* send everything to the HID scope */
 }
 
 int main(){   
 
-    main_timer.attach(&filter, 0.001);
-    max_read1.attach(&get_max1, 2);
+    main_timer.attach(&filter, 0.001); /* set frequency for the filters at 1000Hz */
+    max_read1.attach(&get_max1, 2); /* set the frequency of the calibration loop at 0.5Hz */
     max_read3.attach(&get_max3, 2);
     while(1) {}
 }
\ No newline at end of file