Diff: main.cpp

Revision:

41:9ea3d5921f07

Parent:

40:187ef29de53d

Child:

42:7164ccd2aa14

--- a/main.cpp	Tue Nov 01 08:48:08 2016 +0000
+++ b/main.cpp	Tue Nov 01 09:14:55 2016 +0000
@@ -23,11 +23,12 @@
 
 //define variables
 //other
-int    onoffsignal_rightarm=0;              // on/off signal: 1; biceps activation, 0: nothing, -1, triceps activation
-int    switch_signal_leftarm=0;             // switching between motors. 
-double cut_off_value_biceps =0.04;              //gespecificeerd door floortje
-double cut_off_value_triceps=-0.03;             //gespecificeerd door floortje
-double signal_right_arm;
+int    onoffsignal_biceps=0;              // on/off signal: 1; biceps activation, 0: nothing, -1, triceps activation
+int    switch_signal_triceps=0;             // switching between motors. 
+double cut_off_value_biceps_right =0.04;              //gespecificeerd door floortje
+double cut_off_value_biceps_left=-0.04;
+double cut_off_value_triceps=0.05;             //gespecificeerd door floortje
+double signal_biceps_sum;
 int n = 0; //start van de teller wordt op nul gesteld
  
 //biceps  arm 1, right arm
@@ -73,23 +74,25 @@
 
 //function teller
 void SwitchN() {                        // maakt simpele functie die 1 bij n optelt
-    if(switch_signal_leftarm==1)
+    if(switch_signal_triceps==1)
     {
         n++;
         green=!green;
         red=!red;
     if (n%2==0)  
-     {pc.printf("If you contract the biceps, the robot will go up \r\n");
-     pc.printf("If you contract the triceps, the robot will go down \r\n");
+     {pc.printf("If you contract the biceps of right arm, the robot will go up \r\n");
+     pc.printf("If you contract the biceps of left arm, the robot will go down \r\n");
+     pc.printf("\r\n");
      }
     
     else
-     {pc.printf("If you contract the biceps, the robot will go right \r\n");
-     pc.printf("If you contract the triceps, the robot will go left \r\n");
-     }
+     {pc.printf("If you contract the right arm, the robot will go right \r\n");
+     pc.printf("If you contract biceps of the left rm, the robot will go left \r\n");
+    pc.printf("\r\n");
         
     }    
     }
+    }
     
 //functions which are called in ticker to sample the analog signal
 
@@ -117,39 +120,38 @@
         emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_biceps_left); //fabs because float
         emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left);
           
-        //signal substraction of filter biceps and triceps. Biceps +,triceps -
-        signal_right_arm=emg_filtered_biceps_right-emg_filtered_triceps_right;
+        //signal substraction of filter biceps and triceps. right Biceps + left biceps -
+        signal_biceps_sum=emg_filtered_biceps_right-emg_filtered_biceps_left;
                
         //creating of on/off signal with the created on/off signals, with if statement   for right arm!    
-        if (signal_right_arm>cut_off_value_biceps)
-        {onoffsignal_rightarm=1;}
+        if (signal_biceps_sum>cut_off_value_biceps_right)
+        {onoffsignal_biceps=1;}
           
-        else if (signal_right_arm<cut_off_value_triceps)
+        else if (signal_biceps_sum<cut_off_value_biceps_left)
         {
-        onoffsignal_rightarm=-1;
+        onoffsignal_biceps=-1;
         }    
         
         else
-        {onoffsignal_rightarm=0;}
+        {onoffsignal_biceps=0;}
                       
         //creating on/off signal for switch (left arm)
         
-        if (emg_filtered_biceps_left>cut_off_value_biceps)
+        if (emg_filtered_triceps_right>cut_off_value_triceps)
         {
-        switch_signal_leftarm=1;    
+        switch_signal_triceps=1;    
         }    
         
         else
         {
-        switch_signal_leftarm=0;              
+        switch_signal_triceps=0;              
         }
         
         //send signals  to scope
         scope.set(0, emg_filtered_biceps_right);            //set emg signal to scope in channel 0
         scope.set(1, emg_filtered_triceps_right);           // set emg signal to scope in channel 1
         scope.set(2, emg_filtered_biceps_left);                     // set emg signal to scope in channel 2
-        scope.set(3, onoffsignal_rightarm);                          // set emg signal to scope in channel 3
-        scope.set(4, switch_signal_leftarm);
+   
         
         scope.send();                       //send all the signals to the scope
                 }
@@ -163,14 +165,14 @@
 red=1;
 
 sample_timer.attach(&filter, 0.001);        //continously execute the EMG reader and filter, it ensures that filter and sampling is executed every 1/frequency seconds
-switch_function.attach(&SwitchN,1.0);
+switch_function.attach(&SwitchN,1.5);
 //endless loop
 
 
     while (true) {                        // zorgt er voor dat de code oneindig doorgelopen wordt  
     
         
-    if (onoffsignal_rightarm==-1)                           // als s ingedrukt wordt gebeurd het volgende
+    if (onoffsignal_biceps==-1)                           // als s ingedrukt wordt gebeurd het volgende
     {
          if (n%2==0)                     // als s ingedrukt wordt en het getal is even gebeurd het onderstaande
          { 
@@ -187,7 +189,7 @@
          }      
               
     }
-    else if (onoffsignal_rightarm==1)                     // als d ingedrukt wordt gebeurd het volgende
+    else if (onoffsignal_biceps==1)                     // als d ingedrukt wordt gebeurd het volgende
     {
          if (n%2==0)                     // als d is ingedrukt en n is even dan gebeurd het volgende
          {