File content as of revision 1:ab09b233da7b:

/* ==================================================================================
    --- TEST 1 ---
    OBJETIVE:
    Move the motor via bluetooth and program 90° turns to the right and left using 
    the magnometer. It will report data from the encoders and limit the movement by
    the ultrasonic sensors
    
    COMPONENTS:
    * Bluetooth
    * Magnometer    (FXOS8700CQ & magnometer.h)
    * Motors        (motors.h)
    * Encoder
    * Ultrasonics
    
    CONTROLS:
    w: foward
    s: reverse
    a: left turn
    d: right turn
    o: 90° left turn
    p: 90° right turn
    
    Credits:
    * Mayumi Haro
    * Sarahí Morán
    * Gerardo Carmona
    
    VERSION:
    1.1 - 10/16/14

    HISTORY:
    1.1 - 10/16/14
    (*) Some bug fixes
    (*) Added encoder.h and encpoder.cpp (empty files)
    
    1.0 - 10/14/14
    (+) Initial release.
    
    
================================================================================== */

// ----- Libraries ------------------------------------------------------------------
#include "mbed.h"
#include "motors.h"
#include "magnometer.h"

// ----- Constants ------------------------------------------------------------------
#define LED_ERROR       6
#define LED_NORMAL      5
#define LED_BUSY        3
#define BT_TIME         100

// ----- I/O Pins -------------------------------------------------------------------
Serial pc(USBTX, USBRX);
Serial bt(PTC15, PTC14);
//FXOS8700CQ fxos(PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1); // SDA, SCL, (addr << 1)
// Leds for status
BusOut leds(LED_RED, LED_GREEN, LED_BLUE);

// Sensors
//AnalogIn current_left(A0);
//AnalogIn current_left(A1);
AnalogIn ultra_left(A2);
AnalogIn ultra_right(A3);
DigitalIn encoder_left(D3);
DigitalIn encoder_right(D4);

// ----- Others ---------------------------------------------------------------------
//SRAWDATA accel_data;
//SRAWDATA magn_data;
Timer bt_timer;
Timer gps_timer;

// ----- Variables ------------------------------------------------------------------
char bt_data;

// ----- Function prototypes --------------------------------------------------------
//double get_mag_x();
//double get_mag_y();
//double get_mag_angle();                             // Read angle from the compass
char read_bt();

// ----- Main program ---------------------------------------------------------------
int main(){
    bt.baud(9600); 
    pc.baud(9600);
    //fxos.enable();
    leds = LED_NORMAL;
    bt_timer.start();
    
    while (true){
        if (bt_timer.read_ms() >= BT_TIME){
            bt_data = read_bt();
            if (bt_data != ' '){
                move_motors(bt_data, 100, 100);
            }
        }
    }
}

// ----- Functions ------------------------------------------------------------------

char read_bt(){
    char c = ' ';
    if (bt.readable()){
        c = bt.getc();
        bt.printf("%c\n\r", c);
    }
    return c;
}