//Sampling at 500 Hz analog input signal
//by Carlos Alquezar
//February 2014
//Based on timer interrupts
//by Amanda Ghassaei
//June 2012
//http://www.instructables.com/id/Arduino-Timer-Interrupts/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
*/
//For arduino uno or any board with ATMEL 328/168.. diecimila, duemilanove, lilypad, nano, mini…
//timer0 will interrupt at 500Hz
#include
#define THRESHOLD 200 //In order to determine the state of the hand (opened/closed)
#define EMGPIN 3 //Analog pin connected to Muscle Sensor V3 Board
#define LITTLEPIN 3 //Digital pin used by Little servo
#define RINGPIN 5 //Digital pin used by Ring servo
#define MIDDLEPIN 6 //Digital pin used by Middle servo
#define INDEXPIN 9 //Digital pin used by Index servo
#define THUMBPIN 10 //Digital pin used by Thumb servo
//Constants used to open and close the fingers
#define LITTLE 1
#define RING 2
#define MIDDLE 3
#define INDEX 4
#define THUMB 5
Servo servoLittleFinger; // Define servo fingers
Servo servoRingFinger; // Define servo fingers
Servo servoMiddleFinger; // Define servo fingers
Servo servoIndexFinger; // Define servo fingers
Servo servoThumbFinger; // Define servo fingers
int finger;
// Motion routines for handopen and handclose
void openhand(){for(finger = 1; finger < 6; finger++){openFinger(finger);}}
void closehand(){for(finger = 1; finger < 6 ; finger++){closeFinger(finger);}}
// You have to rewrite properly the functions to open and close the fingers
// according of your assembly
void openFinger(int finger){
if(finger==LITTLE){servoLittleFinger.write(0);} // Little finger
else if(finger==RING){servoRingFinger.write(170);}// Ring finger
else if(finger==MIDDLE){servoMiddleFinger.write(170);}// Middle finger
else if(finger==INDEX){servoIndexFinger.write(170);}// Index finger
else if(finger==THUMB){servoThumbFinger.write(0);}//Thumb finger
}
void closeFinger(int finger){
if(finger==LITTLE){servoLittleFinger.write(170);} // Little finger
else if(finger==RING){servoRingFinger.write(0);}// Ring finger
else if(finger==MIDDLE){servoMiddleFinger.write(0);}// Middle finger
else if(finger==INDEX){servoIndexFinger.write(0);}// Index finger
else if(finger==THUMB){servoThumbFinger.write(170);}//Thumb finger
}
void setup(){
Serial.begin(115200); //BAUDRATE set to 115200, remember it to set monitor serial properly
cli();//stop interrupts
//set timer0 interrupt at 500Hz
TCCR0A = 0;// set entire TCCR0A register to 0
TCCR0B = 0;// same for TCCR0B
TCNT0 = 0;//initialize counter value to 0
// set compare match register for 500hz increments
OCR0A = 124;// = (16*10^6) / (500*256) – 1 (must be <256)
// turn on CTC mode
TCCR0A |= (1 << WGM01);
// Set CS12 bit for 256 prescaler
TCCR0B |= (1 << CS12);
// enable timer compare interrupt
TIMSK0 |= (1 << OCIE0A);
sei();//allow interrupts
servoLittleFinger.attach(LITTLEPIN); // Set Little finger servo to digital pin 3
servoRingFinger.attach(RINGPIN); // Set Ring finger servo to digital pin 5
servoMiddleFinger.attach(MIDDLEPIN); // Set Middle finger servo to digital pin 6
servoIndexFinger.attach(INDEXPIN); // Set Index finger servo to digital pin 9
servoThumbFinger.attach(THUMBPIN); // Set Thumb finger servo to digital pin 10
}//end setup
//This function is executed every interrupt
ISR(TIMER0_COMPA_vect){//timer0 interrupts at 500Hz
int value = analogRead(EMGPIN); //Sampling analog signal
if(value>THRESHOLD) //If the value of the sample is greater than THRESHOLD means that the hand has been closed
{closehand();}
else //Otherwise the hand is open
{openhand();}
Serial.println(value); //You can use serial monitor to set THRESHOLD properly, comparing the values shown when you open and close your hand
}
void loop() {// Nothing to do here, all is done in the interrupt function
}