Hardcoded value version of DIY CyberGlove Arduino code

gistfile1.c

float analog0;
float analog1;
float analog2;
float analog3;
float analog0_close;
float analog1_close;
float analog2_close;
float analog3_close;
float analog0_open;
float analog1_open;
float analog2_open;
float analog3_open;

// the setup routine runs once when you press reset:
void setup() {
  // initialize serial communication at 9600 bits per second:
  Serial.begin(9600);
  Serial.println("Using hardcoded max and min");
}

// the loop routine runs over and over again forever:
void loop() {
 analog0 = analogRead(A0);
   analog1 = analogRead(A1);
   analog2 = analogRead(A2);
   analog3 = analogRead(A3);
 
  //Scale the values to a range of [0,1] 
 float scaled_thumb = (analog0 - 854.00)/(920.00 - 854.00);
 float scaled_point = (analog1 - 860.00)/(923.00 - 860.00);
 float scaled_middle = (analog2 - 862.00)/(913.00 - 862.00);
 float scaled_ring = (analog3 - 848.00)/(902.00 - 848.00);
 if(scaled_thumb < 0.00){
   scaled_thumb = 0.00;
 }
 if(scaled_point < 0.00){
   scaled_point = 0.00;
 }
 if(scaled_middle < 0.00){
   scaled_middle = 0.00;
 } 
 if(scaled_ring < 0.00){
   scaled_ring = 0.00;
 }
 
//  Serial.print("Thumb: ");
//  Serial.print(scaled_thumb);
//  Serial.print(" Point: ");
//  Serial.print(scaled_point);
//  Serial.print(" Middle: ");
//  Serial.print(scaled_middle);
//  Serial.print(" Ring: ");
//  Serial.println(scaled_ring);
  //Print the grasp command
  Serial.print("rosservice call /sandia_hands/l_hand/simple_grasp ' { grasp: { name: \"spherical\", closed_amount: ");
  Serial.print(scaled_point);
  Serial.println("} }'");
//Right now, this just uses the pointer to control the amount that the grasp moves. There exists a path for doing indivudual finger control, but I can't
//get ros to behave enough to let me use that yet.
  
  delay(2000); // 2 second delay between commands so we don't flood the robot with requests. My computer will die...
  
 // delay(1);        // delay in between reads for stability. Use this for debugging
  
  
  
}