freeze thumb

Author: violetforest

Bluetooth-Arduino-Prosthetic-Control.ino

@@ -18,6 +18,7 @@ HandServos handServos(15);
 SavePattern savePattern;
 String savedPattern;
 String rxValueString;
+bool freezeThumb = false;
 
 bool deviceConnected = false;
 BLECharacteristic *pCharacteristic;
@@ -49,7 +50,7 @@ class ReceivedDataCallback: public BLECharacteristicCallbacks {
     void onWrite(BLECharacteristic *pCharacteristic) {
         std::string rxValue = pCharacteristic->getValue();
         rxValueString = pCharacteristic->getValue().c_str();
-        handServos.moveServos(rxValueString);
+        handServos.moveServos(rxValueString, freezeThumb);
 
         int str_len = rxValueString.length() + 1; 
         char * char_array[str_len];
@@ -101,8 +102,7 @@ void handler(Button2& btn) {
     Serial.println(btn.isPressed());
     switch (btn.getClickType()) {
       case SINGLE_CLICK:
-          Serial.println("single ");
-          //handServos.movee();
+          freezeThumb = !freezeThumb;
           break;
       case DOUBLE_CLICK:
           Serial.println("double load");

HandServos.cpp

@@ -130,7 +130,7 @@ void HandServos::calibrate() {
   lastPosR = servoR.read();
 }
 
-void HandServos::moveServos(String input) {
+void HandServos::moveServos(String input, boolean freezeThumb) {
   //parse String
   //https://gist.github.com/mattfelsen/9467420
 
@@ -164,11 +164,14 @@ void HandServos::moveServos(String input) {
     Serial.println(pieces[2]);
     Serial.println(pieces[3]);
 
-    servoT.write(pieces[0].toInt());
+    if (!freezeThumb) {
+       servoT.write(pieces[0].toInt());
+    }
+
     servoI.write(pieces[1].toInt());
     servoM.write(pieces[2].toInt());
     servoR.write(pieces[3].toInt());
-    
+
     lastPosT = servoT.read();
     lastPosI = servoI.read();
     lastPosM = servoM.read();

HandServos.h

@@ -19,7 +19,7 @@ class HandServos
     void openFingers();
     void openThumb();
     void closeFingers();
-    void moveServos(String input);
+    void moveServos(String input, boolean freezeThumb);
     void moveServos2(String input);
     int var;
     int interval;