Revision 7:714b41918ab0, committed 2020-01-16

Comitter:

nikoletakuneva

Date:

Thu Jan 16 17:48:07 2020 +0000

Parent:

6:4437975b9cf9

Commit message:

Final

Changed in this revision

diff -r 4437975b9cf9 -r 714b41918ab0 main.cpp
--- a/main.cpp	Sat Nov 30 10:35:57 2019 +0000
+++ b/main.cpp	Thu Jan 16 17:48:07 2020 +0000
@@ -20,7 +20,6 @@
 #include "platform/mbed_thread.h"
 #include "stats_report.h"
 #include "MPU9250.h"
-//#include <Eigen/Dense.h>
 #include <iostream>
 #include <vector>  
 #include <complex>
@@ -74,7 +73,6 @@
         t.start(callback(&_event_queue, &EventQueue::dispatch_forever));
     }
     void update_step_count() {
-        //printf("updating step count %d\n\r", step_count);
         if (_ble.gap().getState().connected) {
             _ble.gattServer().write(step_count_state.getValueHandle(), (uint8_t *)&step_count, sizeof(int));
         }
@@ -83,7 +81,6 @@
 private:
     /** Callback triggered when the ble initialization process has finished */
     void on_init_complete(BLE::InitializationCompleteCallbackContext *params) {
-        //printf("on init complete\n\r");
         if (params->error != BLE_ERROR_NONE) {
             print_error(params->error, "Ble initialization failed.");
             return;
@@ -97,7 +94,6 @@
     }
 
     void start_advertising() {
-        //printf("start advertising\n\r");
         /* Create advertising parameters and payload */
 
         ble::AdvertisingParameters adv_parameters(
@@ -214,39 +210,27 @@
     
     bqc.add(&mybq);
     
-    //vector<float> res_list;
     acc_new << 0,0,0;
     while (true) {
-        
-        //Blink LED and wait 1 seconds
         thread_sleep_for(SLEEP_TIME);
         //read and convert date
         mpu->ReadConvertAll(AccRead,GyroRead,TempRead);
         AccRead[0]= AccRead[0]/1000;
         AccRead[1]= AccRead[1]/1000;
         AccRead[2]= AccRead[2]/1000;
-        printf("acc value is (%f,%f,%f).\n\r",AccRead[0],AccRead[1],AccRead[2]);
-        //printf("gyro value is (%f,%f,%f).\n\r",GyroRead[0],GyroRead[1],GyroRead[2]);
-        //printf("temp value is %f.\n\r",TempRead[0]);
         
         //append new data to matrix acc_raw
         //adding the columns
         acc_previous = acc_new;
         acc_new << AccRead[0],AccRead[1],AccRead[2];
-        //cout << "acc_previous:"<<acc_previous<<"\n\r";
-        //printf("\n\r");
         
         acc_raw.conservativeResize(acc_raw.rows(), acc_raw.cols()+1);
         acc_raw.col(acc_raw.cols()-1) = acc_new;
         
-        //////cout << "acc_raw:" << acc_raw << endl;
         if(number % 10 ==2)
         {
             if(number > 2)
             {
-                //cout << "acc_raw"<< acc_raw << "\n\r";
-                //printf("\n\r");
-                
                 //run PCA
                 MatrixXd X1=pca.featurnormail(acc_raw);
                 pca.ComComputeCov(X1, C);
@@ -256,24 +240,15 @@
                 MatrixXd res = -vec.rightCols(dim).transpose()*X1;
                 
                 //show the result after PCA
-                //////cout << "result" << res << endl;
                 vector<float> res_list={};
                 
-                //printf("result of PCA size:%d\n\r",res.cols());
                 for(int i = 0; i < res.cols(); i++)
                 {
                     res_list.push_back(res(i));
-                    //res_smooth = bqc.step(res(i));
-                    //res_list.push_back(res_smooth);
-                    //printf("result%d: %f\n\r",i,res_smooth);
-                    //std::cout << "\t" << bqc.step(  ) << std::endl;
                 }
                 int len = res_list.size();
-                //printf("len of res:%d\n\r", len);
                 numpeak = peak.findPeaks(res_list,len,threshold);
-                //printf("height in main: %f\n\r", threshold);
                 step_count += numpeak;
-                //printf("num of step: %d\n\r", step_count);
                 
                 //clear the matrix to contain new data
                 acc_raw.conservativeResize(3, 0);