File content as of revision 8:0b7925095416:

#include "EMG.h"
#include "Motor.h"
#include "HIDScope.h"
#include "MODSERIAL.h"
#include "iostream"
DigitalIn a(D3);
DigitalIn b(D4);
HIDScope scope(2); // 4 channels of data
Ticker MainTicker;
MODSERIAL pc(USBTX, USBRX);

/*****************************************************************/
//Initialize Analog EMG inputs:


EMG EMG_bi_r(A0);// Move  the endpoint to the right (plus direction)
EMG EMG_bi_l(A1);// Move the endpoint to the left (minus direction)
EMG EMG_tri_r(A2);// Move the endpoint forward (plus direction)
EMG EMG_tri_l(A3);// Move the endpoint backward (minus direction)

/****************************************************/

Motor motor2;


/*****************************************************/
// Set control signals:

double x_control_signal=0 , y_control_signal; //x direction is the righ/left movement


double make_X_control_signal(){
    double emg=EMG_bi_r.filter()/10;
    double emg2=EMG_bi_l.filter()/10;
    
        if(abs(emg-emg2)>=0.0025)
        {
            return x_control_signal+emg2-emg;
        }
        else
            return x_control_signal;
    
}

/******************************************************/

// Ticker Function:
void ReadAndFilterEMG()
{    
    //motor2.set_angle();
    //x_control_signal= make_X_control_signal();
    
    motor2.Control_angle(x_control_signal);
    scope.set(0, x_control_signal);
    scope.set(1, motor2.set_angle());
    scope.send();
    
}


/***************************************************/

//Main Function:
int main(void)
{
    
    double sample_time= 0.002;   //fs = 500Hz
    pc.baud(115200);    //Set Baud rate for Serial communication
    MainTicker.attach(&ReadAndFilterEMG, sample_time);    //Attach time based interrupt
    
    
    while(true)
    {
        if(a==0){
            x_control_signal+=10;
            wait(0.1);
            }
        if(b==0){
            x_control_signal-=10;
            wait(0.1);
            }
    }
    
    
    //return 0;
}