File content as of revision 26:9b43d9cb1fb2:

#include "mbed.h"
#include "MODSERIAL.h"
#include "HIDScope.h"
#define TIMEB4NEXTCHOICE 2
#define TIMEBETWEENBLINK 20

//Define objects
AnalogIn    emg0(PTB1); //Analog input
PwmOut      emgfloat(PTD4);//Float voor EMG-waarde
PwmOut      red(LED_RED); //PWM output
PwmOut      green(LED_GREEN);
PwmOut      blue(LED_BLUE);
int         direction = 0;
int         force = 0;

Ticker log_timer;
MODSERIAL pc(USBTX,USBRX);
HIDScope scope(2);

/** Looper function
* functions used for Ticker and Timeout should be of type void <name>(void)
* i.e. no input arguments, no output arguments.
* if you want to change a variable that you use in other places (for example in main)
* you will have to make that variable global in order to be able to reach it both from
* the function called at interrupt time, and in the main function.
* To make a variable global, define it under the includes.
* variables that are changed in the interrupt routine (written to) should be made
* 'volatile' to let the compiler know that those values may change outside the current context.
* i.e.: "volatile uint16_t emg_value;" instead of "uint16_t emg_value"
* in the example below, the variable is not re-used in the main function, and is thus declared
* local in the looper function only.
**/
void looper()
{
    /*variable to store value in*/
    uint16_t emg_value;
    /*put raw emg value both in emgfloat and in emg_value*/
    emgfloat.write(emg0.read());      // read float value (0..1 = 0..3.3V)
    emg_value = emg0.read_u16(); // read direct ADC result (0..4096 = 0..3.3V)
    /*send value to PC. Line below is used to prevent buffer overrun */
    if(pc.rxBufferGetSize(0)-pc.rxBufferGetCount() > 30)
        //pc.printf("%u\n",emg_value);
        scope.set(0,emg_value);
    scope.set(1,emgfloat.read());
    scope.send();
    /**When not using the LED, the above could also have been done this way:
    * pc.printf("%u\n", emg0.read_u16());
    */
}



int main()
{
    pc.baud(115200); //baudrate instellen
    emgfloat.period_ms(2); //sets period for the PWM to the emgfloat PTD4
    log_timer.attach(looper, 0.001); // The looper() function will be called every 0.001 seconds (with the ticker object)

    goto directionchoice; // goes to first while(1) for the deciding the direction

    while(1) { //Loop keuze DIRECTION
directionchoice:
        for(int i=1; i<4; i++) {
            if(i==1) {           //red
                red=0;
                green=1;
                blue=1;
                for (int lag=0; lag<TIMEBETWEENBLINK; lag++) {
                    if(emgfloat.read()>0.8) {                   // 0.8 klopt niet als grenswaarde. #nofilter
                        direction = 1;
                        blue = 0;
                        green = 0;
                        red=1;
                        pc.printf("links ");
                        wait(TIMEB4NEXTCHOICE);                 // Tijdelijke wait om cyaan lampje aan te zetten ter controle selectie
                        goto forcechoice;                       // goes to second while(1) for the deciding the force
                    } else {
                        wait(0.1);
                    }
                }
            }
            if(i==2) {           //green
                red =1;
                green=0;
                blue=1;
                for (int lag=0; lag<TIMEBETWEENBLINK; lag++) {
                    if(emgfloat.read()>0.8) {                    //0.8 klopt niet als grenswaarde. #nofilter
                        direction = 2;
                        blue = 0;
                        green = 1;
                        red=0;
                        pc.printf("mid ");
                        wait(TIMEB4NEXTCHOICE);                            // Tijdelijke wait om paars lampje aan te zetten ter controle selectie
                        goto forcechoice;
                    } else {
                        wait(0.1);
                    }
                }
            }
            if(i==3) {           //blue
                red=1;
                green=1;
                blue=0;
                for (int lag=0; lag<TIMEBETWEENBLINK; lag++) {
                    if(emgfloat.read()>0.8) {                    //0.8 klopt niet als grenswaarde. #nofilter
                        direction = 3;
                        blue = 1;
                        green = 0;
                        red=0;
                        pc.printf("rechts ");
                        wait(TIMEB4NEXTCHOICE);                            // Tijdelijke wait om oranje lampje aan te zetten ter controle selectie
                        goto forcechoice;
                    } else {
                        wait(0.1);
                    }
                }
            }
        }
    }
    while(1) { //Loop keuze FORCE
forcechoice:
        for(int i=1; i<4; i++) {
            if(i==1) {           //red
                red=0;
                green=1;
                blue=1;
                for (int lag=0; lag<TIMEBETWEENBLINK; lag++) {
                    if(emgfloat.read()>0.8) {                    // 0.8 klopt niet als grenswaarde. #nofilter
                        force = 1;
                        blue = 0;
                        green = 0;
                        red=1;
                        pc.printf("zwak ");
                        wait(TIMEB4NEXTCHOICE);                            // Tijdelijke wait om cyaan lampje aan te zetten ter controle selectie
                        goto choicesmade;
                    } else {
                        wait(0.1);
                    }
                }
            }
            if(i==2) {           //green
                red =1;
                green=0;
                blue=1;
                for (int lag=0; lag<TIMEBETWEENBLINK; lag++) {
                    if(emgfloat.read()>0.8) {                    //0.8 klopt niet als grenswaarde. #nofilter
                        force = 2;
                        blue = 0;
                        green = 1;
                        red=0;
                        pc.printf("normaal ");
                        wait(TIMEB4NEXTCHOICE);                            // Tijdelijke wait om paars lampje aan te zetten ter controle selectie
                        goto choicesmade;
                    } else {
                        wait(0.1);
                    }
                }
            }
            if(i==3) {           //blue
                red=1;
                green=1;
                blue=0;
                for (int lag=0; lag<TIMEBETWEENBLINK; lag++) {
                    if(emgfloat.read()>0.8) {                    //0.8 klopt niet als grenswaarde. #nofilter
                        force = 3;
                        blue = 1;
                        green = 0;
                        red=0;
                        pc.printf("sterk ");
                        wait(TIMEB4NEXTCHOICE);                            // Tijdelijke wait om oranje lampje aan te zetten ter controle selectie
                        goto choicesmade;
                    } else {
                        wait(0.1);
                    }
                }
            }
        }
    }
choicesmade:

    red = 0;
    green = 0;
    blue = 0;           // wit lampje

    if(direction == 0 || force == 0) {
        pc.printf("error");
    }
    if(direction == 1 && force == 1) {            // links zwak
        pc.printf("links zwak");
    }
    if(direction == 1 && force == 2) {            // links normaal
        pc.printf("links normaal");
    }
    if(direction == 1 && force == 3) {            // links sterk
        pc.printf("links sterk");
    }
    if(direction == 2 && force == 1) {            // mid zwak
        pc.printf("mid zwak");
    }
    if(direction == 2 && force == 2) {            // mid normaal
        pc.printf("mid normaal");
    }
    if(direction == 2 && force == 3) {            // mid sterk
        pc.printf("mid sterk");
    }
    if(direction == 3 && force == 1) {            // rechts zwak
        pc.printf("rechts zwak");
    }
    if(direction == 3 && force == 2) {            // rechts normaal
        pc.printf("rechts normaal");
    }
    if(direction == 3 && force == 3) {            // rechts sterk
        pc.printf("rechts sterk");
    }
}