Glove code

glove.ino

static int servo_minimum = 0;
static int servo_maximum = 180;
static unsigned int filter_alpha = 10;

#include <Servo.h>

Servo finger1, finger2, finger3, finger4, finger5;

int servoPin1 = 5;
int servoPin2 = 6;
int servoPin3 = 9;
int servoPin4 = 10;
int servoPin5 = 3;

int flexPin1 = A0;
int flexPin2 = A1;
int flexPin3 = A2;
int flexPin4 = A3;
int flexPin5 = A4;

void setup()
{
	Serial.begin(115200);

  //Attach the servo objects to their respective pins
  finger1.attach(servoPin1);
  finger2.attach(servoPin2);
  finger3.attach(servoPin3);
  finger4.attach(servoPin4);
  finger5.attach(servoPin5);

  //Set each flex sensor pin to input: this is necessary
  pinMode(flexPin1, INPUT);
  pinMode(flexPin2, INPUT);
  pinMode(flexPin3, INPUT);
  pinMode(flexPin4, INPUT);
  pinMode(flexPin5, INPUT);

}
	//initialize the flex variables (uint16_t) with a startup value of 600
	unsigned int flex1=600;
	unsigned int flex2=600;
	unsigned int flex3=600;
	unsigned int flex4=600;
	unsigned int flex5=600;

void loop()
{
  //moving average filters.
  flex1 = (flex1 * filter_alpha + analogRead(flexPin1)) / (filter_alpha+1); //pinky
  flex2 = (flex2 * filter_alpha + analogRead(flexPin2)) / (filter_alpha+1); //ring
  flex3 = (flex3 * filter_alpha + analogRead(flexPin3)) / (filter_alpha+1); //middle
  flex4 = (flex4 * filter_alpha + analogRead(flexPin4)) / (filter_alpha+1); //index
  flex5 = (flex5 * filter_alpha + analogRead(flexPin5)) / (filter_alpha+1); //thumb

  //Graph the pinky :)


  Serial.print("Flex1 graph: ");
  for(int i = 0; i<flex1/5;i++) Serial.print('-'); //divide by 5 to fit the terminal window (but reduce resolution)
  Serial.print("| ");
  Serial.println(flex1);

  /* Defines "pos" variables as being proportional to the flex inputs.
  The 400 to 700 value range seemed adequate for my sensors, but you can change
  yours accordingly. */
  int pos1 = map(flex1, 400, 700, servo_minimum, servo_maximum);

  int pos2 = map(flex2, 400, 700, servo_minimum, servo_maximum);
  int pos3 = map(flex3, 400, 700, servo_minimum, servo_maximum);
  int pos4 = map(flex4, 480, 640, servo_minimum, servo_maximum);
  int pos5 = map(flex5, 400, 700, servo_minimum, servo_maximum);
  
  //Tells servos to move by the amount specified in the "pos" variables
  finger1.write(pos1);
  finger2.write(pos2);
  finger3.write(pos3);
  finger4.write(pos4);
  finger5.write(pos5);
}