Diff: main.cpp

Revision:

3:f784301a5166

Parent:

2:12f979d695db

Child:

4:d8fd3c4484cc

--- a/main.cpp	Wed Aug 12 18:05:29 2015 +0000
+++ b/main.cpp	Wed Sep 02 01:29:02 2015 +0000
@@ -8,6 +8,11 @@
 AnalogIn   E1(A1);
 AnalogIn   E2(A2);
 AnalogIn   E3(A3);
+PwmOut Thumb(D11);
+PwmOut Index(D10);
+PwmOut Middle(D9);
+PwmOut Pinky(D6);
+PwmOut ThumbRot(D5);
  
 float32_t EMG1, EMG2, EMG3;
 float32_t samples[25];
@@ -47,8 +52,23 @@
 int main() {
   pc.baud(115200);                                  //Serial com at 115200 bauds
   EMG_Sampler.attach(&ADC_Sampler, 0.001);          //1ms ticker for ADC Sampler
+  //Open -> 0.6ms - Close 2.4ms
+  Thumb.period(0.02f/2.0f);
+  Thumb.pulsewidth(0.0010f/2.0f);
+  //Open -> 2.4ms - Close 0.6ms
+  Index.period(0.02f*2.0f);
+  Index.pulsewidth(0.0024f*2.0f);
+  //Open -> 2.4ms - Close 0.6ms
+  Middle.period(0.02f*2.0f);
+  Middle.pulsewidth(0.0024f*2.0f);
+  //Open -> 0.6ms - Close 2.4ms
+  Pinky.period(0.02f*2.0f);
+  Pinky.pulsewidth(0.0006f*2.0f);
+  //Open -> 0.6ms - Close 2.4ms
+  //ThumbRot.period(0.02f/2.0f);
+  ThumbRot.pulsewidth(0.0006f*2.0f);
+  
   myled = 1;
-  //Thumb = 0;
   while(1) { 
     if(COCO){
         //mean for threshold
@@ -60,9 +80,19 @@
         arm_mean_f32(abs_output, 25, &mean3); 
         if ((mean>0.009f)&&(mean2>0.007f)&&(mean3>0.007f)) {
             myled = 0;
+            Thumb.pulsewidth(0.0024f/2.0f);
+            Index.pulsewidth(0.0006f*2.0f);
+            Middle.pulsewidth(0.0006f*2.0f);
+            Pinky.pulsewidth(0.0024f*2.0f);
+            ThumbRot.pulsewidth(0.0024f*2.0f);
         }
         else {
             myled = 1;
+            Thumb.pulsewidth(0.0010f/2.0f);
+            Index.pulsewidth(0.0024f*2.0f);
+            Middle.pulsewidth(0.0024f*2.0f);
+            Pinky.pulsewidth(0.0006f*2.0f);
+            ThumbRot.pulsewidth(0.0006f*2.0f);
         }
         COCO = 0;   
     }