File content as of revision 13:5f08195456a4:

#include "mbed.h"

#include "pid.h"
#include "sensors.h"
#include "mouse.h"

Ticker Systicker;
Mouse m;

void systick()
{
    m.scan(); // get the IR values.
            // these values are useful regardless of what mouse_state we are in.
    switch (m.mouse_state)
    {
        case STOPPED: 
            m.offsetCalc();
            m.pid_reset();
            m.sensor_reset();
            break;
        case FORWARD:
            if ( m.forward_wall_detected() )
            {
                m.mouse_state = STOPPED;
                m.turn_direction = LEFT;
                return;
            }
            m.run_pid();
            // TODO we need to start saving walls and stuff.
            break;
        default: 
            // don't do anything. 
            break;
    }
}
   
void setup()
{    
    Mouse m;

    Systicker.attach_us(&systick, 1000);
    wait(2);
}

int main() {
    setup();
    while(1) {
        switch (m.mouse_state)
        {
        case STOPPED:
            m.stop();
            wait(1);
            if ( m.turn_direction == INVALID )
            {
                m.mouse_state = FORWARD;
            }
            else
            {
                m.mouse_state = TURNING;
            }
            break;
        case FORWARD:
//            left_forward = left_speed / left_max_speed;
//            left_reverse = 0;
//            right_forward = right_speed / right_max_speed;
//            right_reverse = 0;
            break;
        case TURNING:
            m.turn();
            m.mouse_state = STOPPED;
            m.turn_direction = INVALID;
            break;
        case MOVECELL:
            m.move_cell();
            m.mouse_state = STOPPED;
            break;
        default: 
            // idk lmao. show some error message?
            break;
        }
    }
}