// Nano Glove

// Includes easy transfer library which puts the data into an array
// and includes a checksum for the recieving side for data verification.
#include <EasyTransfer.h>

// Assigns an object for the Easy tansfer library
EasyTransfer ET;


// Data structure must be exactly the same on the recieving side
// hen called by the recieving side.
struct SEND_DATA_STRUCTURE {
  int ang1;
  int ang2;
  int ang3;
  int ang4;
  int ang5;
};

// Names the group of data which contains the angle information
// in an array.
SEND_DATA_STRUCTURE mydata;

// These define the analog pins of the Arduino Nano each flex sensor is attached to.
int flexPin1 = A3;
int flexPin2 = A4;
int flexPin3 = A5;
int flexPin4 = A6;
int flexPin5 = A7;


// These variables will be assigned to the analog reads from the flex sensor values.
// These will be compared to the Openedf and Closedf.
int finger1 = 0;
int finger2 = 0;
int finger3 = 0;
int finger4 = 0;
int finger5 = 0;

// These are the variables which will later be assigned to the maximum finger travel
// flex sensor reading. Temporarily assigned to zero. These values will be used to map
// the servo values for a maximum. This will compensate for range changes if the voltage
// to the sensors changes.
int Openedf1 = 0;
int Openedf2 = 0;
int Openedf3 = 0;
int Openedf4 = 0;
int Openedf5 = 0;

// These are the variables which will later be assigned to the minimum finger travel
// flex sensor reading. These values will be used to map the servo values for a minimum.
// This will compensate for range changes if the voltage to the sensors changes.
int Closedf1;
int Closedf2;
int Closedf3;
int Closedf4;
int Closedf5;

int ang1 = 0;
int ang2 = 0;
int ang3 = 0;
int ang4 = 0;
int ang5 = 0;

int flex1 = 0;
int flex2 = 0;
int flex3 = 0;
int flex4 = 0;
int flex5 = 0;

void setup()
{
  // Beginning serial communication at 19200 baud rate
  Serial.begin(19200);

  //start the library, pass in the data details and the name of the serial port.
  ET.begin(details(mydata), &Serial);

  // Set each flex sensor pin to input.
  pinMode(flexPin1, INPUT);
  pinMode(flexPin2, INPUT);
  pinMode(flexPin3, INPUT);
  pinMode(flexPin4, INPUT);
  pinMode(flexPin5, INPUT);

  Closedf1 = analogRead(flexPin1);
  Closedf2 = analogRead(flexPin2);
  Closedf3 = analogRead(flexPin3);
  Closedf4 = analogRead(flexPin4);
  Closedf5 = analogRead(flexPin5);
}

void loop()
{
  // Assigning analog read from flex sensors to variables
  flex1 = analogRead(flexPin1);
  flex2 = analogRead(flexPin2);
  flex3 = analogRead(flexPin3);
  flex4 = analogRead(flexPin4);
  flex5 = analogRead(flexPin5);

  // This ensures Openedf1 is a maximum and finger travel is maximized. Openedf1 is replaced with finger1
  // if finger1 flex sensor reading is a maximum. The hand will need to be opened and closed a few times
  // for this to take effect.
  if (flex1 > Openedf1) {
    Openedf1 = flex1;
  }
  if (flex2 > Openedf2) {
    Openedf2 = flex2;
  }
  if (flex3 > Openedf3) {
    Openedf3 = flex3;
  }
  if (flex4 > Openedf4) {
    Openedf4 = flex4;
  }
  if (flex5 > Openedf5) {
    Openedf5 = flex5;
  }

  // This ensures Closedf1 is a minimum and finger travel is maximized. Openedf1 is replaced with finger1
  // if finger1 flex sensor reading is a minimum. The hand will need to be opened and closed a few times
  // for this to take effect.
  if (flex1 < Closedf1) {
    Closedf1 = flex1;
  }
  if (flex2 < Closedf2) {
    Closedf2 = flex2;
  }
  if (flex3 < Closedf3) {
    Closedf3 = flex3;
  }
  if (flex4 < Closedf4) {
    Closedf4 = flex4;
  }
  if (flex5 < Closedf5) {
    Closedf5 = flex5;
  }
  
  // Using the map function to assign the analog read of the flex sensor voltage from the Closedf variables 
  // which are the minimum of the range to the Openedf variables which are the maximum of the range. 
  // Then assigns the angle data into the Easy transfer library variables.
  mydata.ang1 = map(flex1, Closedf1, Openedf1, 0, 180);
  mydata.ang2 = map(flex2, Closedf2, Openedf2, 0, 180);
  mydata.ang3 = map(flex3, Closedf3, Openedf3, 0, 180);
  mydata.ang4 = map(flex4, Closedf4, Openedf4, 0, 180);
  mydata.ang5 = map(flex5, Closedf5, Openedf5, 0, 180);
// Sends the angle data to the recieving Xbee and Uno in the hand assembly.
  ET.sendData();
  delay(20);
}