File content as of revision 3:9c63fc5f157e:

// ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ PREPARATION ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡
// Libraries
#include "mbed.h"
#include "BiQuad.h"
#include "FastPWM.h"
#include "HIDScope.h"
#include "MODSERIAL.h"

// Inputs & outputs
DigitalOut  redled(LED_RED,1);      // red LED K64F
DigitalOut  greenled(LED_GREEN,1);  // green LED K64F
DigitalOut  blueled(LED_BLUE,1);    // blue LED K64F
InterruptIn buttonbio1(D0);         // button 1 BioRobotics shield
InterruptIn buttonbio2(D1);         // button 2 BioRobotics shield
InterruptIn buttonK64F(SW3);        // button on K64F
InterruptIn emergencybutton(SW2);   // emergency button on K64F

// Define & initialise state machine
enum states {   waiting, calibratingMotors, calibratingEMGx, calibratingEMGy,
                homing, operating, flipping, failure, demo
            };
states currentState = waiting;      // start in waiting mode
bool changeState = true;            // initialise the first state



// ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ STATE MACHINE ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡
void stateMachine(void)
{
    switch (currentState) {         // determine which state Odin is in

// =============================== WAITING MODE ================================
        case waiting:
// ------------------------------ INITIALISATION -------------------------------
            if (changeState) {                  // when entering the state
                if (externalPC)  {              //    when external pc is connected
                    pc.printf("waiting...\r\n");   // print current state
                }
                changeState = false;            // stay in this state

                // Actions when entering state

                /*  */

            }
// ---------------------------------- ACTION -----------------------------------
            // Actions for each loop iteration
            
// -------------------------------- TRANSITION ---------------------------------
            // Transition condition #1
            if () {
                // Actions when leaving state
                currentState = ;                    // change to state
                changeState = true;                 // next loop, switch states
            }
            break; // end case
            
// ========================== MOTOR CALIBRATION MODE ===========================
        case calibratingMotors:
// ------------------------------ INITIALISATION -------------------------------
            if (changeState) {                  // when entering the state
                if (externalPC)  {              //    when external pc is connected
                    pc.printf("calibrating motors...r\n");   // print current state
                }
                changeState = false;            // stay in this state

                // Actions when entering state

                /*  */

            }
// ---------------------------------- ACTION -----------------------------------
            // Actions for each loop iteration
            
// -------------------------------- TRANSITION ---------------------------------
            // Transition condition #1
            if () {
                // Actions when leaving state
                currentState = ;                    // change to state
                changeState = true;                 // next loop, switch states
            }
            
            break; // end case
            
// ================================= DEFAULT ===================================
        default:
    }

}



// ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ MAIN LOOP ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡

int main()
{
// ============================== PC-COMMUNICATION =============================
    bool externalPC = true;
    if (externalPC) {
        MODSERIAL pc(USBTX, USBRX); // communication with pc
    }
// ==================================== LOOP ===================================
    while (true) {                  // loop forever

    }
}