//test program

#include <Servo.h>
Servo
Servo
Servo
Servo
Servo
int
int
int
int
int

Pinky;
Ring;
Index;
Pointer;
Thumb;

val;
val1;
val2;
val3;
val4;

float filterVal;
// this determines smoothness - .0001 is max 1 is off (
no smoothing)
float smoothedVal;
// this holds the last loop value just use a unique varia
ble for every different sensor that needs smoothing
float smoothedVal1;
float smoothedVal2;
float smoothedVal3;
float smoothedVal4;
void setup()
{
Serial.begin(9600);
Pinky.attach(7);
Ring.attach(6);
Index.attach(5);
Pointer.attach(4);
Thumb.attach(3);
}
void loop()
{
val = analogRead(0);
// reads the value of the potentiometer (val
ue between 0 and 1023)
val = map(val, 0, 1023, 0, 179);
val1 = analogRead(1);
// reads the value of the potentiometer (va
lue between 0 and 1023)
val1 = map(val1, 0, 1023, 0, 179);
val2 = analogRead(2);
// reads the value of the potentiometer (va
lue between 0 and 1023)
val2 = map(val2, 0, 1023, 0, 179);
val3 = analogRead(3);
// reads the value of the potentiometer (va
lue between 0 and 1023)
val3 = map(val3, 0, 1023, 0, 179);
val4 = analogRead(4);
// reads the value of the potentiometer (va
lue between 0 and 1023)
val4 = map(val4, 0, 1023, 0, 179);
filterVal = 0.05;
smoothedVal = smooth(val, filterVal, smoothedVal); // second parameter de
termines smoothness - 0 is off, .9999 is max smooth
smoothedVal1 = smooth(val1, filterVal, smoothedVal1); // second parameter
determines smoothness - 0 is off, .9999 is max smooth
smoothedVal2 = smooth(val2, filterVal, smoothedVal2); // second parameter

determines smoothness - 0 is off, .9999 is max smooth

smoothedVal3 = smooth(val3, filterVal, smoothedVal3);
determines smoothness - 0 is off, .9999 is max smooth
smoothedVal4 = smooth(val4, filterVal, smoothedVal4);
determines smoothness - 0 is off, .9999 is max smooth
if (smoothedVal > 120)
{
Pinky.write(60);
Serial.print("smoothed val: ");
Serial.print(smoothedVal);
Serial.print(" ");
Serial.print(val);
Serial.print(" ");
Serial.println("60");
}
else if(smoothedVal<60)
{
Pinky.write(180);
Serial.print("smoothed val: ");
Serial.print(smoothedVal);
Serial.print(" ");
Serial.print(val);
Serial.print(" ");
Serial.println("180");
}
delay(15);
if (smoothedVal1 > 120)
{
Ring.write(60);
}
else if(smoothedVal1<60)
{
Ring.write(180);
}
delay(15);
if (smoothedVal2 > 120)
{
Index.write(60);
}
else if(smoothedVal2<60)
{
Index.write(180);
}
delay(15);
if (smoothedVal3 > 120)
{
Pointer.write(60);
}
else if(smoothedVal3<60)
{
Pointer.write(180);
}
delay(15);
if (smoothedVal4 > 120)
{

// second parameter
// second parameter

Thumb.write(60);
}
else if(smoothedVal4<60)
{
Thumb.write(180);
}
delay(15);

}
int smooth(int data, float filterVal, float smoothedVal){
if (filterVal > 1){
// check to make sure param's are within range
filterVal = .99;
}
else if (filterVal <= 0){
filterVal = 0;
}
smoothedVal = (data * (1 - filterVal)) + (smoothedVal * filterVal);
return (int)smoothedVal;
}
int smooth1(int data, float filterVal, float smoothedVal1){
if (filterVal > 1){
// check to make sure param's are within range
filterVal = .99;
}
else if (filterVal <= 0){
filterVal = 0;
}
smoothedVal1 = (data * (1 - filterVal)) + (smoothedVal1 * filterVal);
return (int)smoothedVal1;
}
int smooth2(int data, float filterVal, float smoothedVal2){
if (filterVal > 1){
// check to make sure param's are within range
filterVal = .99;
}
else if (filterVal <= 0){
filterVal = 0;
}
smoothedVal2 = (data * (1 - filterVal)) + (smoothedVal2 * filterVal);
return (int)smoothedVal2;
}
int smooth3(int data, float filterVal, float smoothedVal3){
if (filterVal > 1){
filterVal = .99;

// check to make sure param's are within range

}
else if (filterVal <= 0){
filterVal = 0;
}
smoothedVal3 = (data * (1 - filterVal)) + (smoothedVal3 * filterVal);
return (int)smoothedVal3;
}
int smooth4(int data, float filterVal, float smoothedVal4){
if (filterVal > 1){
// check to make sure param's are within range
filterVal = .99;
}
else if (filterVal <= 0){
filterVal = 0;
}
smoothedVal4 = (data * (1 - filterVal)) + (smoothedVal4 * filterVal);
return (int)smoothedVal4;
}