Diff: main.cpp

Revision:

3:3d5ad874add0

Parent:

2:083d74325bfb

Child:

4:61bdf601e7b0

--- a/main.cpp	Fri Jan 08 10:44:48 2016 +0000
+++ b/main.cpp	Fri Jan 08 11:33:34 2016 +0000
@@ -2,8 +2,8 @@
 Some variables are also numbered at the end. The numbers stands for the muscle that controls it.
 Biceps =            1 = lower right arm(wrist flexors)
 Triceps =           2 = upper right arm(wrist extensors)
-Pectoralis Major =  3 = upper left arm(wrist flexors)
-Deltoid posterior = 4 = lower left arm(wrist extensors)
+Pectoralis Major =  3 = upper left arm(wrist extensors)
+Deltoid posterior = 4 = lower left arm(wrist flexors)
 The "x" and "y" at the end of variables stand for the X-movement or Y-movement respectivly.
 The code has been revised to work with the new board and also has a secondary way of controlling it using a joystick
 */
@@ -18,10 +18,10 @@
 #define Damp        5    //Deceleration of the motor
 #define Mass        1    // Mass value
 #define dt          0.01 //Sample frequency
-#define EMG_tresh1   0.02
-#define EMG_tresh2   0.02
-#define EMG_tresh3   0.02
-#define EMG_tresh4   0.02
+#define EMG_tresh1   0.01
+#define EMG_tresh2   0.01
+#define EMG_tresh3   0.01
+#define EMG_tresh4   0.01
 #define H_Gain  5
 #define Pt_x    0.80
 #define Pt_y    0.50
@@ -215,12 +215,12 @@
  
 // send value to PC.
 
-    scope.set(0,filtered_pect); //Filtered EMG signal
-    scope.set(1,filtered_deltoid);
+    scope.set(0,filtered_biceps); //Filtered EMG signals
+    scope.set(1,filtered_triceps);
     /*scope.set(2,filtered_pect);
     scope.set(3,filtered_deltoid);*/
-    scope.set(2,emg3.read());//testing emg signal for cause of variance
-    scope.set(3,emg4.read());
+    scope.set(2,filtered_pect);
+    scope.set(3,filtered_deltoid);
     scope.send();
     
 }
@@ -268,8 +268,8 @@
 void looper_motorx()
 {
 
-   /* emg_x = (filtered_pect - filtered_deltoid);
-    emg_x_abs = fabs(emg_x);
+    emg_x = (filtered_pect - filtered_deltoid);
+    /*emg_x_abs = fabs(emg_x);
     force2 = emg_x_abs*K_Gain;
     force2 = force2 - damping2;
     acc2 = force2/Mass;
@@ -278,25 +278,25 @@
     step_freq2 = setpoint * speed2;
     Stepx.period(1.0/step_freq2);
     speed_old2 = speed2;
-
+*/
     if (emg_x > 0) {
         Dirx = 1;
     }
     if (emg_x < 0) {
         Dirx = 0;
     }
-    //Speed limit
+    /*//Speed limit
     if (speed2 > 1) {
         speed2 = 1;
         step_freq2 = setpoint;
-    }
+    }*/
     //EMG treshold
     if (filtered_pect < EMG_tresh3 && filtered_deltoid < EMG_tresh4) {
         Enablex = 1; //Enable = 1 turns the motor off.
     } else {
         Enablex = 0;
     }
-*/
+/*
 //0.06 for biceps and triceps movement, 0.03 for wrist lower and upper motion left arm upper 2 connections
     if (filtered_pect > 0.03) {//right cart movement
         Dirx.write(1);
@@ -314,7 +314,7 @@
         Enablex.write(1);
     }
     else{}
-}
+}*/
 
 int main()
 {
@@ -397,7 +397,7 @@
 
     looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor
 
-    looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor
+    //looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor
 
     while(1){};
 }
\ No newline at end of file