File content as of revision 124:f67ce69557db:

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

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

Ticker switchesTick, debugTick, motorTick, EMGTick, safetyTick serialTick;
volatile bool switches_go=false, debug_go=false, motor_go=false, emg_go=false, safety_go=false, serial_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;};
void serial_activate(){serial_go=true;};

void tickerAttach(){
    EMGTick.attach(&emg_activate, 0.005f);
    switchesTick.attach(&switches_activate, 0.02f);
    debugTick.attach(&debug_activate, motorCall);
    motorTick.attach(&motor_activate, motorCall);
    safetyTick.attach(&safety_activate, 0.001f);
    serialTick.attach(&serial_activate, 0.05f);
}

double motorCall = 0.01; // set motor frequency global so it can be used for speed.
const int sample = 0;  // Constant for mode switching for program readability
const int normalize = 1; // Constant for mode switching for program readability
bool mode = normalize; // Set program mode
bool tickersActivated = false;
bool calReady = false; // flag for calibration ready

bool usePotmeters = true;
bool controlAngle = false;
bool controlDirection = true;


int main(){
    motorInit();
    calReady = true; // calibrateMotors();

    while (true) {

        if(calReady && !tickersActivated){ // when done with calibration, start tickers
            tickerAttach();
            tickersActivated = true;
        }

        if(emg_go){
            emg_go=false;
            readEMG();
        }
        if(mode==0){  // wait until EMG is done with calibration
            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();
            }
            if(serial_go){
                serial_go=false;
                serialCom();
            }
        }
    }
}