diff --git a/Process of flow chart/flow chart of the whole process.graphml b/Process of flow chart/flow chart of the whole process.graphml
index a12f06e589b24c0e947926aaea1bb8fe1a4d60dc..bcee247043db48002666a597e5b6c0d255559134 100644
--- a/Process of flow chart/flow chart of the whole process.graphml	
+++ b/Process of flow chart/flow chart of the whole process.graphml	
@@ -17,17 +17,17 @@
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         <y:GenericNode configuration="com.yworks.flowchart.terminator">
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+          <y:Geometry height="40.0" width="298.0" x="65.37036205715197" y="307.5707365329765"/>
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@@ -39,176 +39,215 @@ in the foot plate
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+Set peak force to 0
+Small force to turn up LEDs
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-          <y:Geometry height="40.0" width="276.25" x="246.09371842134533" y="603.573565"/>
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-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="15" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="40.7529296875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="216.6220703125" x="29.81396484375" xml:space="preserve" y="-0.37646484375">LED strip on the left hands side 
-of foot plate works <y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="15" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="40.7529296875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="77.359375" x="34.4453125" xml:space="preserve" y="-0.37646484375">swayRight 
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     <node id="n7">
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-        <y:GenericNode configuration="com.yworks.flowchart.terminator">
-          <y:Geometry height="40.0" width="201.25" x="689.0454799047452" y="433.60002444741536"/>
+        <y:GenericNode configuration="com.yworks.flowchart.decision">
+          <y:Geometry height="48.75" width="136.25" x="479.4891109430696" y="832.0392690686274"/>
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-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="15" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="40.7529296875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="134.8984375" x="33.17578125" xml:space="preserve" y="-0.37646484375">Detecting data from
-right armrest<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="15" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="40.7529296875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="73.19189453125" x="31.529052734375" xml:space="preserve" y="3.99853515625">swayRight
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+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="15" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="40.7529296875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="137.36669921875" x="11.004150390624886" xml:space="preserve" y="-0.37646484375">Start timer interrrupt
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+        <y:GenericNode configuration="com.yworks.flowchart.decision">
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-of foot plate works <y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="15" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="22.37646484375" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="29.84716796875" x="25.076416015625" xml:space="preserve" y="8.811767578125">Yes
+<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
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+        <y:GenericNode configuration="com.yworks.flowchart.terminator">
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+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="15" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="40.7529296875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="141.5341796875" x="-0.7892710937499032" xml:space="preserve" y="9.573975156250071">Start timer interrrupt 
+for 5s<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
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+<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
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-<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="15" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="40.7529296875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="222.47412109375" x="21.262939453125" xml:space="preserve" y="-0.37646484375">Shine the left hand side of LEDs 
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+        <y:GenericNode configuration="com.yworks.flowchart.decision">
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+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="15" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="22.37646484375" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="40.6796875" x="30.340637533422466" xml:space="preserve" y="13.186767578125">Sway<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
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-          <y:Geometry height="40.0" width="238.75" x="-137.60887762923284" y="627.2763775000001"/>
+          <y:Geometry height="40.0" width="193.0" x="787.3632389817283" y="394.68213343582863"/>
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+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="15" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="40.7529296875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="164.08544921875" x="14.457275390625" xml:space="preserve" y="-0.37646484375">Detecting the data from 
+left armrest<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
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+          <y:Geometry height="40.0" width="80.0" x="843.8632389817283" y="480.3937366622101"/>
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-<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="15" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="22.37646484375" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="29.84716796875" x="25.076416015625" xml:space="preserve" y="8.811767578125">Yes<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
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         <y:GenericNode configuration="com.yworks.flowchart.terminator">
-          <y:Geometry height="40.0" width="265.0" x="-150.73387762923284" y="765.464005"/>
+          <y:Geometry height="40.0" width="276.25" x="745.7382389817283" y="585.5112889616754"/>
           <y:Fill color="#E8EEF7" color2="#B7C9E3" transparent="false"/>
           <y:BorderStyle color="#000000" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="15" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="40.7529296875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="222.47412109375" x="21.262939453125" xml:space="preserve" y="-0.37646484375">Shine the left hand side of LEDs 
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+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="15" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="40.7529296875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="216.6220703125" x="29.81396484375" xml:space="preserve" y="-0.37646484375">LED strip on the left hands side 
+of foot plate works <y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
         </y:GenericNode>
       </data>
     </node>
     <node id="n18">
+      <data key="d6">
+        <y:GenericNode configuration="com.yworks.flowchart.terminator">
+          <y:Geometry height="40.0" width="201.25" x="1188.6900004651282" y="394.68213343582863"/>
+          <y:Fill color="#E8EEF7" color2="#B7C9E3" transparent="false"/>
+          <y:BorderStyle color="#000000" type="line" width="1.0"/>
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="15" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="40.7529296875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="134.8984375" x="33.17578125" xml:space="preserve" y="-0.37646484375">Detecting data from
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+        </y:GenericNode>
+      </data>
+    </node>
+    <node id="n19">
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         <y:GenericNode configuration="com.yworks.flowchart.decision">
-          <y:Geometry height="59.90088000000014" width="207.0799999999999" x="280.67871842134537" y="680.313565"/>
+          <y:Geometry height="40.0" width="80.0" x="1249.3150004651282" y="464.40277737522274"/>
+          <y:Fill color="#E8EEF7" color2="#B7C9E3" transparent="false"/>
+          <y:BorderStyle color="#000000" type="line" width="1.0"/>
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="15" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="22.37646484375" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="29.84716796875" x="25.076416015625" xml:space="preserve" y="8.811767578125">Yes<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
+        </y:GenericNode>
+      </data>
+    </node>
+    <node id="n20">
+      <data key="d6">
+        <y:GenericNode configuration="com.yworks.flowchart.terminator">
+          <y:Geometry height="40.0" width="298.0" x="1140.3150004651282" y="564.6556739884134"/>
+          <y:Fill color="#E8EEF7" color2="#B7C9E3" transparent="false"/>
+          <y:BorderStyle color="#000000" type="line" width="1.0"/>
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="15" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="40.7529296875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="225.7919921875" x="36.10400390625" xml:space="preserve" y="-0.37646484375">LED strip on the right hands side 
+of foot plate works <y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
+        </y:GenericNode>
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+        <y:GenericNode configuration="com.yworks.flowchart.decision">
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           <y:Fill color="#E8EEF7" color2="#B7C9E3" transparent="false"/>
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-    <node id="n19">
+    <node id="n22">
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+          <y:Geometry height="115.19999999999982" width="207.07999999999993" x="780.3232389817283" y="879.973291956328"/>
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 work when timer interrupt 
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 <y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
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+          <y:Geometry height="48.75" width="173.75" x="1202.4400004651282" y="711.1743760204992"/>
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+laser state<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
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+          <y:Geometry height="103.24385026737991" width="225.816541889483" x="1176.4067295203868" y="885.951366822638"/>
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 Disable all the timer interrupts
 Disable wireless communication<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
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-          <y:Arrows source="none" target="standard"/>
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+    <node id="n25">
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+        <y:GenericNode configuration="com.yworks.flowchart.decision">
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+          <y:Fill color="#E8EEF7" color2="#B7C9E3" transparent="false"/>
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