//EMG sensor robotic hand controller 
//This code is for controlling a robotic hand with
//an EMG sensor. 
//
//© Au Robots 8.4.2017


//Necessary for controlling the servos
#include <Servo.h> 

const int x = ///// This is the reference value and it
//will depend on your setup. You have to find it out 
//yourself by looking at the serial monitor and finding
//a value between the maximum and minimum value.

//Naming the servos
Servo servo1;
Servo servo2;
Servo servo3;
Servo servo4;
Servo servo5;
Servo servo6;

void setup() 
{ 
//Starting the serial monitor
Serial.begin(9600); 

//Configuring servo pins
servo2.attach(10); // pinky
servo3.attach(11); //ring
servo4.attach(3); // middle
servo5.attach(6); //index
servo6.attach(5); //thumb
} 


void loop() 
{ 
//Printing the EMG data
Serial.println(analogRead(5)); 

//If the EMG data is greater than x the hand closes
  if(analogRead(5) > x) {
    servo2.write(180);
    servo3.write(148);
    servo4.write(89);
    servo5.write(180);
    servo6.write(180);
  }

//If the EMG data is lower than x the hand opens
  else if (analogRead(5) < x) {
    servo2.write(38);
    servo3.write(10);
    servo4.write(0);
    servo5.write(16);
    servo6.write(16);
  }

//A delay to slow down the process
  delay(100);
}