File content as of revision 0:1b8a08e9a66c:

#include "mbed.h"
//#include "QEI.h"
#include "MODSERIAL.h"
//#include "HIDScope.h"


Serial pc (USBTX,USBRX);
//PwmOut Motor1Vel(D6);            //motor 1 velocity control
//DigitalOut Motor1Dir(D7);        //motor 1 direction
//PwmOut Motor2Vel(D5);            //motor 2 velocity control
//DigitalOut Motor2Dir(D4);        //motor 2 direction
DigitalOut led1(D8);
DigitalOut led2(D9);
AnalogIn emgx(A0);
AnalogIn emgy(A1);
//DigitalOut ledb(LED1);

Ticker switch_tick;

float limitx =3, limity = 3, positionx = 1, positiony = 1;

int i = 0;                         //counter to go back to initial position if there is no activity

void movex()
{
    led1 = 1;
}
void movey()
{
    led2 = 1;    
}
void movexy()
{
    led2 = 1;
    led1 = 1;
}
void initialPosition()
{
    led2 = 0;
    led1 = 0;
}
int choosecase(float emgx, float emgy)
{
    int a = 0;
    if (emgx > 0 && emgy == 0)
    {
        a = 1;
        i = 0;
    }
    else if (emgx == 0 && emgy > 0)
    {
        a = 2;
        i = 0;
    }
    else if (emgx > 0 && emgy > 0)
    {
        a = 3;
        i = 0;
    }
    else if (positionx >= limitx || positiony >= limity)
    {
        a = 4;
        i = 0;
    }
    else if (i > 199)
    {
        a = 4;
        i = 0;
    }
    else 
    {
        i++;
    }
    pc.printf("emgx: %f  emgy: %f \r\n",emgx,emgy);
    return a;

}
void selectcase()
{
    int switchcons = choosecase(emgx,emgy);
    switch(switchcons)
    {
        case 1:
            movex();
            break;
        case 2:
            movey();
            break;
        case 3:
            movexy();
            break;
        case 4:
            initialPosition();
            break;
        default:
            break;
    }
    pc.printf("Chosen case: %d \r\n",switchcons);
}
main()
{
    pc.baud(115200);
    switch_tick.attach(&selectcase,0.01);
    while (true) {

    }
}