#include "mbed.h"
#include "WiflyInterface.h"
#include "motordriver.h" 
#include "HTTPClient.h"
Serial pc(USBTX, USBRX);
HTTPClient http;
 
/* wifly object where:
*     - p9 and p10 are for the serial communication
*     - p25 is for the reset pin
*     - p26 is for the connection status
*     - "mbed" is the ssid of the network
*     - "password" is the password
*     - WPA is the security
*/
WiflyInterface wifly(p9, p10, p25, p26, "enter_the_ssid", "enter_the_password", WPA);
 

DigitalOut f(LED1);//to indicate forward movement of robot
DigitalOut b(LED2);
DigitalOut l(LED3);
DigitalOut r(LED4);
Motor A(p22, p6, p5, 1); // pwm, fwd, rev, can brake 
Motor B(p21, p7, p8, 1); // pwm, fwd, rev, can brake
int main() {
wifly.init(); // use DHCP
while (!wifly.connect());
char buffer[2];
buffer[1]='\0';
char a;
while(1)
{

        http.get("http://develop.jissjohn.com/netbot/command.txt", buffer,2);

        printf("\n%s\n\r", buffer);// for debugging purposes on the usb serialport
a=buffer[0];
if(a=='1')// Forward direction
    {f=1;
        A.speed(0.4); 
        B.speed(0.4); 
        wait(0.02);
    }
else if(a=='5')//Reverse Direction
    {b=1;
    f=0;
    l=0;
    r=0;
        A.speed(-0.4);
        B.speed(-0.4);
        wait(0.02);
    }
else if(a=='7')//Turn Left Direction
    { l=1;
    f=0;
    r=0;
    b=0;
       A.speed(-0.5);
        B.speed(0.5);
        wait(0.02);
    }
else if(a=='3')//Turn Right Direction
    {r=1;
    f=0;
    l=0;
    b=0;
       A.speed(0.5);
        B.speed(-0.5);
        wait(0.02);
    }
else
    {

    A.stop(1);
    B.stop(1);

   wait(1);
    A.coast();
    B.coast();

    }

}
wifly.disconnect();
}