File content as of revision 6:f495a77c2c95:

#include "mbed.h" // Use revision 119!!
#include "HIDScope.h" // For displaying data, select MBED - HID device, restart for every new code 
#include "QEI.h" // For reading the encoder of the motors 
#include <ctime> // for the timer in the states 

#define SERIAL_BAUD 115200

// In- en outputs 
// -----------------------------------------------------------------------------

/*
// EMG related
AnalogIn emg1(); // EMG signal 1
AnalogIn emg2(); // EMG signal 2
// if needed
AnalogIn emg3(); // EMG signal 3
AnalogIn emg4(); // EMG signal 4
*/

// Motor related
DigitalOut dirpin_1(D4); // direction of motor 1
PwmOut pwmpin_1(D5); // PWM pin of motor 1
DigitalOut dirpin_2(D7); // direction of motor 2
PwmOut pwmpin_2(D6); // PWM pin of motor 2

// Extra stuff
// Like LED lights, buttons etc 
/*
DigitalIn button_motorcal(); // button for motor calibration
DigitalIn button_emergency(); // button for emergency mode
DigitalIn button_start(); // button for start mode (from demo mode)
DigitalIn button_demo(); // button for demo mode 
*/
DigitalIn led_red(LED_RED); // red led 
DigitalIn led_green(LED_GREEN); // green led
DigitalIn led_blue(LED_BLUE); // blue led
AnalogIn pot_1(A1); // potmeter for simulating EMG input


// Other stuff
// -----------------------------------------------------------------------------
// Define stuff like tickers etc

//Ticker NAME; // Name a ticker, use each ticker only for 1 function! 
HIDScope scope(2); // Number of channels in HIDScope
QEI Encoder(D13,D12,NC,64,QEI::X4_ENCODING); // Define the type of encoding: X4 encoding(default is X2)
Serial pc(USBTX,USBRX);
Timer t; // For timing the time in each state (https://os.mbed.com/handbook/Timer)

// Variables 
// ----------------------------------------------------------------------------- 
// Define here all variables needed throughout the whole code 
int counts;
float potmeter_value;
double time;
float time_in_state;

// states
enum states (WAIT, MOTOR_CAL, EMG_CAL, START, OPERATING, FAILURE, DEMO) // states the robot can be in
states CurrentState = WAIT; // the current state to start with is the WAIT state
bool StateChanged = true; // the state must be changed to go into the next state

// Functions
// -----------------------------------------------------------------------------
 
// Encoder 
// Getting encoder information from motors
int encoder()
{
    int counts = Encoder.getPulses();
    return counts;
    } 
    
// potmeter 
float potmeter()
{
    float out_1 = pot_1 * 2.0f;
    float out_2 = out_1 - 1.0f;
                
    dirpin_1.write(out_2 < 0);
    dirpin_2.write(out_2 < 0);
    
    pwmpin_1 = fabs (out_2); // Has to be positive value
    pwmpin_2 = fabs (out_2);
        
    return out_2;
    }

// Motor calibration
// To calibrate the motor angle to some mechanical boundaries
// Kenneth mee bezig 

// EMG calibration
// To calibrate the EMG signal to some boundary values
// Simon mee bezig 

// Send EMG to HIDScope
void hidscope() // Attach this to a ticker! 
{
    scope.set(0, counts); // send EMG 1 to channel 1 (=0)
    scope.set(1, potmeter_value); // sent EMG 2 to channel 2 (=1)
    
    // Ensure that enough channels are available (HIDScope scope(2))
    scope.send(); // Send all channels to the PC at once
    }

// Start
// To move the robot to the starting position: middle
void start() 
{
    // move to middle
    }

// Operating mode
// To control the robot with EMG signals
// Gertjan bezig met motor aansturen

// Processing EMG 
// To process the raw EMG to a usable value, with filters etc
// Kees mee bezig 

// Demo mode
// To control the robot with a written code and write 'HELLO'
// Voor het laatst bewaren

// Emergency mode
// To shut down the robot after an error etc 

// Main function
// -----------------------------------------------------------------------------
int main()
{
    pc.baud(115200); // For TeraTerm, the baudrate, set also in TeraTerm itself! 
    pc.printf("Start code\r\n"); // To check if the program starts 
    pwmpin_1.period_us(60); // Needed for PWM, not exactly known why
    NAME.attach(&hidscope(),0.002);
    
    while(true){
        // timer
        clock_t start; // start the timer
        start = clock(); 
        time = (clock() - start) / (double) CLOCKS_PER_SEC;
        
        counts = encoder();
        potmeter_value = potmeter();
         
        
        //pc.printf("potmeter value = %f ", potmeter_value);
        //pc.printf("counts = %i\r\n", counts); 
        
        // With the help of a switch loop and states we can switch between states and the robot knows what to do
        switch{CurrentState}
        {
            case WAIT:
            
            if(StateChanged) // so if StateChanged is true
            {
                // Execute WAIT mode
                pc.printf("State is WAIT\r\n");
                StateChanged = false; // the state is still WAIT
                }
                
            if() // condition for WAIT --> MOTOR_CAl; button press
            {
                CurrentState = MOTOR_CAL;
                StateChanged = true;
                }
            
            break;
            
            case MOTOR_CAL:
            
            if(StateChanged) // so if StateChanged is true
            {
                t.start();
                // Execute MOTOR_CAL mode
                t.stop();
                time_in_state = t.read();
                pc.printf("State is MOTOR_CAL\r\n");
                StateChanged = false; // the state is still MOTOR_CAL
                }
            
            if(time_in_state > 3.0 && motor_velocity < 0.01) // condition for MOTOR_CAL --> EMG_CAL; 3s en motors stopped moving
            {
                CurrentState = EMG_CAL;
                StateChanged = true;
                }
                
            break;
            
            case EMG_CAL:
            
            if(StateChanged) // so if StateChanged is true
            {
                t.reset();
                t.start();
                // Execute EMG_CAL mode
                t.stop();
                time_in_state = t.read();
                pc.printf("State is EMG_CAL\r\n");
                StateChanged = false; // state is still EMG_CAL
                }
            
            if(time_in_state < 5 && EMG < 0.01) // condition for EMG_CAL --> START; 5s and EMG is low
            {
                CurrentState = START;
                StateChanged = true;
                }
                
            break;
            
            case START:
            
            if(StateChanged) // so if StateChanged is true
            {
                t.reset();
                t.start();
                // Execute START mode
                t.stop();
                time_in_state = t.read();
                pc.printf("State is START\r\n");
                StateChanged = false; // state is still START
                }
            
            if(time_in_state < 5 && error < 0.01) // condition for START --> OPERATING; 5s and error is small
            {
                CurrentState = OPERATING;
                StateChanged = true;
                }
                
            break;
            
            case OPERATING:
            
            if(StateChanged) // so if StateChanged is true
            {
                // Execute OPERATING mode
                pc.printf("State is OPERATING\r\n");
                StateChanged = false; // state is still OPERATING
                }
            
            if() // condition for OPERATING --> FAILURE; button press
            {
                CurrentState = FAILURE;
                StateChanged = true;
                }
                
            if() // condition for OPERATING --> DEMO; button press
            {
                CurrentState = DEMO;
                StateChanged = true;
                }
                
            break;
            
            case FAILURE:
            
            if(StateChanged) // so if StateChanged is true
            {
                // Execute FAILURE mode
                pc.printf("State is FAILURE\r\n");
                StateChanged = false; // state is still FAILURE
                }
            
            if() // condition for FAILURE --> WAIT; button press 
            {
                CurrentState = WAIT;
                StateChanged = true;
                }
                
            break;
            
            case DEMO:
            
            if(StateChanged) // so if StateChanged is true
            {
                // Execute DEMO mode
                pc.printf("State is DEMO\r\n");
                StateChanged = false; // state is still DEMO
                }
            
            if() // condition for DEMO --> WAIT; button press 
            {
                CurrentState = WAIT;
                StateChanged = true;
                }
                
            if () // condition for DEMO --> FAILURE; button press 
            {
                CurrentState = FAILURE;
                StateChanged = true;
                }
                
            break;
            
            // no default  
            }
            
        // while loop does not have to loop every time
        }
        
}