/// <summary>
/// Add a new EMG sensor
/// </summary>
public void AddSensor()
{
// Create and add sensor
ThalmicMyobandManager emgSensor = new ThalmicMyobandManager();
AvatarSystem.AddActiveSensor(emgSensor);
// Get prosthesis and add sensor when tH
if (AvatarSystem.AvatarType == AvatarType.Transhumeral)
{
GameObject prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
ConfigurableElbowManager elbowManager = prosthesisManagerGO.GetComponent <ConfigurableElbowManager>();
elbowManager.AddSensor(emgSensor);
}
else if (AvatarSystem.AvatarType == AvatarType.Transradial)
{
GameObject prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
FakeEMGBoniHand prosthesisManager = prosthesisManagerGO.GetComponent <FakeEMGBoniHand>();
prosthesisManager.InitialiseInputSystem(emgSensor);
}
// Return to settings menu.
addSensorMenu.ReturnToSettingsMenu();
}
private void LoadDebugAvatar()
{
// Load avatar
if (avatarType == AvatarType.Transhumeral)
{
AvatarSystem.LoadAvatar(SaveSystem.ActiveUser, AvatarType.Transhumeral);
// Find the residual limb and change the follower
GameObject residualLimbGO = GameObject.FindGameObjectWithTag("ResidualLimbAvatar");
LimbFollower limbFollower = residualLimbGO.GetComponent <LimbFollower>();
Destroy(limbFollower);
AngleFollower angleFollower = residualLimbGO.AddComponent <AngleFollower>();
angleFollower.fixedTransform = fixedProsthesisPosition;
// Initialize prosthesis
GameObject prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
ConfigurableElbowManager elbowManager = prosthesisManagerGO.AddComponent <ConfigurableElbowManager>();
elbowManager.InitializeProsthesis(SaveSystem.ActiveUser.upperArmLength, (SaveSystem.ActiveUser.forearmLength + SaveSystem.ActiveUser.handLength / 2.0f));
// Set the reference generator to jacobian-based.
elbowManager.ChangeReferenceGenerator("VAL_REFGEN_JACOBIANSYN");
instructionsText = synergyInstructions;
// Enable & configure EMG
if (emgEnable)
{
// Create and add sensor
//EMGWiFiManager emgSensor = new EMGWiFiManager(ip, port, channelSize);
ThalmicMyobandManager emgSensor = new ThalmicMyobandManager();
//emgSensor.ConfigureLimits(0, 1023, 0);
//emgSensor.ConfigureLimits(1, 1023, 0);
AvatarSystem.AddActiveSensor(emgSensor);
elbowManager.AddSensor(emgSensor);
//emgSensor.StartSensorReading();
// Set active sensor and reference generator to EMG.
elbowManager.ChangeSensor("VAL_SENSOR_SEMG");
elbowManager.ChangeReferenceGenerator("VAL_REFGEN_EMGPROP");
instructionsText = emgInstructions;
}
}
else
{
throw new System.NotImplementedException();
}
}
