Galileo Hand Basic Example implemented on FRDM K64F

Dependencies:   NOKIA_5110 mbed-dsp mbed

Fork of Nucleo_EMG_Galileo_Hand by Julio Fajardo

Revision:
6:78494092a326
Parent:
5:49c5553b6e2c
--- a/main.cpp	Sun Oct 11 03:42:30 2015 +0000
+++ b/main.cpp	Sun Nov 01 18:35:45 2015 +0000
@@ -11,8 +11,10 @@
 #define FLEXION2    0.0f
 
 Ticker EMG_Sampler;
-Serial pc(SERIAL_TX, SERIAL_RX);
+//Serial pc(SERIAL_TX, SERIAL_RX);
+Serial pc(USBTX, USBRX);
 DigitalOut myled(LED1);
+InterruptIn sw2(SW2);
 AnalogIn   Ref(A0);
 AnalogIn   E1(A1);
 AnalogIn   E2(A2);
@@ -37,7 +39,7 @@
 
 //variables for state machines
 uint8_t state = 0;
-uint8_t action = 0;
+uint8_t action = '0';
 
 //conversion and data collection complete flag
 uint8_t COCO = 0;
@@ -48,10 +50,16 @@
 void RX_Interrupt(void);
 void Serial_Oscilloscope(uint8_t activation, uint8_t type);
 void FingerPosition(float32_t thumb_us, float32_t index_us, float32_t middle_us, float32_t pinky_us, float32_t thumbrot_us);
- 
+
+void flip() {
+    if(action<='5') action++;
+    else action = '1';
+} 
+
 int main() {
   pc.baud(115200);                                  //Serial com at 115200 bauds
   pc.attach(&RX_Interrupt);                         //Serial RX interrupt attachment
+  sw2.rise(&flip); 
   EMG_Sampler.attach(&ADC_Sampler, 0.001);          //1 ms ticker for ADC Sampler
   PWM_Init();                                       //Servo initialization
   myled = 1;
@@ -64,7 +72,7 @@
         arm_mean_f32(abs_output, 25, &mean);        //mean EMG1
         arm_mean_f32(abs_output2, 25, &mean2);      //mean EMG2 
         arm_mean_f32(abs_output3, 25, &mean3);      //mean EMG3
-        Serial_Oscilloscope(FALSE,SMOOTH);
+        Serial_Oscilloscope(TRUE,SMOOTH);
         switch(state){   
             case 0: {
                 if (mean>THRESHOLDF){
@@ -84,7 +92,7 @@
                 if (mean2>THRESHOLDE){
                     myled = 1;
                     state = 0;
-                    FingerPosition(1000,2400,2400, 600, 600);                       //Open
+                    FingerPosition(1000,2400,2400, 600, 2400);                       //Open
                 }       
             }
         }
@@ -98,7 +106,7 @@
     EMG1 = (E1.read()-Ref.read())*3.3f;
     EMG2 = (E2.read()-Ref.read())*3.3f;
     EMG3 = (E3.read()-Ref.read())*3.3f;
-    Serial_Oscilloscope(TRUE,RAW);
+    Serial_Oscilloscope(FALSE,RAW);
     uint32_t m = __get_PRIMASK();
     __disable_irq();        
     for(int j=24;j>0;j--) {
@@ -129,38 +137,38 @@
 //PWM initialization for servos
 void PWM_Init(void){
     //Open -> 0.6ms - Close 2.4ms
-    Thumb.period(0.02f/2.0f);
-    Thumb.pulsewidth(0.0010f/2.0f);
+    Thumb.period(0.02f);
+    Thumb.pulsewidth(0.0010f);
     //Open -> 2.4ms - Close 0.6ms
-    Index.period(0.02f*2.0f);
-    Index.pulsewidth(0.0024f*2.0f);
+    //Index.period(0.02f);
+    Index.pulsewidth(0.0024f);
     //Open -> 2.4ms - Close 0.6ms
-    Middle.period(0.02f*2.0f);
-    Middle.pulsewidth(0.0024f*2.0f);
+    Middle.period(0.02f);
+    Middle.pulsewidth(0.0024f);
     //Open -> 0.6ms - Close 2.4ms
-    Pinky.period(0.02f*2.0f);
-    Pinky.pulsewidth(0.0006f*2.0f);
+    //Pinky.period(0.02f);
+    Pinky.pulsewidth(0.0006f);
     //Open -> 0.6ms - Close 2.4ms
-    ThumbRot.pulsewidth(0.0006f*2.0f);  
+    ThumbRot.pulsewidth(0.0006f);  
 }
 
 //send data through serail port for oscilloscope visualization
 void Serial_Oscilloscope(uint8_t activation, uint8_t type){
     if (activation){
         switch(type){
-            case RAW: pc.printf("%.10f,%.10f,%.10f\n\r",EMG1,EMG2,EMG3); break; 
-            case RECTIFIED: pc.printf("%.10f,%.10f,%.10f\n\r",abs_output[0],abs_output2[0],abs_output3[0]);break;
-            case SMOOTH: pc.printf("%.10f,%.10f\n\r",mean,mean2,mean3); break;
-            default: pc.printf("%.10f,%.10f,%.10f\n\r",EMG1,EMG2,EMG3); 
+            case RAW: pc.printf("%.10f,%.10f\n\r",EMG1,EMG2); break; 
+            case RECTIFIED: pc.printf("%.10f,%.10f\n\r",abs_output[0],abs_output2[0]);break;
+            case SMOOTH: pc.printf("%.10f,%.10f\n\r",mean,mean2); break;
+            default: pc.printf("%.10f,%.10f\n\r",EMG1,EMG2); 
         } 
     }    
 }
 
 //finger position through servos - values on microseconds (600 us - 2400 us)
 void FingerPosition(float32_t thumb_us, float32_t index_us, float32_t middle_us, float32_t pinky_us, float32_t thumbrot_us){
-    Thumb.pulsewidth(thumb_us/1000000.0f/2.0f);
-    Index.pulsewidth(index_us/1000000.0f*2.0f);
-    Middle.pulsewidth(middle_us/1000000.0f*2.0f);
-    Pinky.pulsewidth(pinky_us/1000000.0f*2.0f);
-    ThumbRot.pulsewidth(thumbrot_us/1000000.0f*2.0f);
+    Thumb.pulsewidth(thumb_us/1000000.0f);
+    Index.pulsewidth(index_us/1000000.0f);
+    Middle.pulsewidth(middle_us/1000000.0f);
+    Pinky.pulsewidth(pinky_us/1000000.0f);
+    ThumbRot.pulsewidth(thumbrot_us/1000000.0f);
 }