File content as of revision 95:94f02d01ebdf:

/*
   ________                      ____        __          __
  / ____/ /_  ___  __________   / __ \____  / /_  ____  / /_
 / /   / __ \/ _ \/ ___/ ___/  / /_/ / __ \/ __ \/ __ \/ __/
/ /___/ / / /  __(__  |__  )  / _, _/ /_/ / /_/ / /_/ / /_
\____/_/ /_/\___/____/____/  /_/ |_|\____/_.___/\____/\__/

*/

#include "mbed.h"
#include "config.h"  // settings and pin configurations
#include "actuators.h"
#include "buttons.h"
#include "debug.h"
#include "emg.h"

const int     sample = 0;               // Constant for EMG mode switching for program readability
const int     normalize = 1;            // Constant for EMG mode switching for program readability

bool start=false;
bool emg_mode = normalize;              // Set EMG mode

Ticker switchesTick, debugTick, motorTick, EMGTick, safetyTick;
volatile bool switches_go=false, debug_go=false, motor_go=false, emg_go=false, safety_go=false;

void switches_activate(){switches_go=true;};
void debug_activate(){debug_go=true;};
void motor_activate(){motor_go=true;};
void emg_activate(){emg_go=true;};
void safety_activate(){safety_go=true;};

double motorCall = 0.005; // set motor frequency global so it can be used for speed.
int main()
{
    DigitalIn startButton(startPin);
    while(start == false) {
        if(startButton.read()==0) {
            start=true;
        }
    }
    while (start == true) {
        motorInit();
        calibrateMotors();              // start calibration procedure
        
        EMGTick.attach(&emg_activate, 0.005f);
        switchesTick.attach(&switches_activate, 0.02f);
        debugTick.attach(&debug_activate, 0.03f);
        motorTick.attach(&motor_activate, motorCall);
        safetyTick.attach(&safety_activate, 0.001f);

        while (emg_mode == normalize) {
            if(emg_go) {
                emg_go=false;
                readEMG();
            }
        }
        while (true) {
            if(safety_go) {
                safety_go=false;
                safety();
            }
            if(emg_go) {
                emg_go=false;
                readEMG();
            }
            if(switches_go) {
                switches_go=false;
                checkSwitches();
            }
            if(debug_go) {
                debug_go=false;
                debugProcess();
            }
            if(motor_go) {
                motor_go=false;
                motorControl();
                // servoControl();
            }
        }
    }
}