File content as of revision 0:de18ece84d31:

#include "mbed.h"
 
#define wheelc 0.1759292
//Status LED
DigitalOut led(LED1);
 
//Motor PWM (speed)
PwmOut PWMA(PA_8);
PwmOut PWMB(PB_4);
 
//Motor Direction
DigitalOut DIRA(PA_9);
DigitalOut DIRB(PB_10);
 
//Hall-Effect Sensor Inputs
DigitalIn HEA1(PB_2);
DigitalIn HEA2(PB_1);
DigitalIn HEB1(PB_15);
DigitalIn HEB2(PB_14);
 
//On board switch
DigitalIn SW1(USER_BUTTON);
 
//Use the serial object so we can use higher speeds
Serial terminal(USBTX, USBRX);
 
//Timer used for measuring speeds
Timer timer;
 
//Enumerated types
enum DIRECTION   {FORWARD=0, REVERSE};
enum PULSE           {NOPULSE=0, PULSE};
enum SWITCHSTATE {PRESSED=0, RELEASED};
 
//Debug GPIO
DigitalOut probe(D10);
 
//Duty cycles
float dutyA = 1.0f; //100%
float dutyB = 1.0f; //100%
 
int forward(float distance, int speed)
{
    //Set motor period to 100Hz
    dutyA = 5;
    dutyB = 5;
    PWMA.period_ms(speed);
    PWMB.period_ms(speed);
 
    //Set initial motor speed to stop
    PWMA.write(dutyA);          //Set duty cycle (%)
    PWMB.write(dutyB);          //Set duty cycle (%)
 
 
}
 
int turn(int degrees, bool direction)
{
    //Set motor period to 100Hz
    dutyA = 10;
    dutyB = 10;
    PWMA.period_ms(200);
    PWMB.period_ms(200);
 
    //Set initial motor speed to stop
    PWMA.write(dutyA);          //Set duty cycle (%)
    PWMB.write(dutyB);          //Set duty cycle (%)
    wait(0.67);
    dutyA = 0;
    dutyB = 0;
    PWMA.write(dutyA);          //Set duty cycle (%)
    PWMB.write(dutyB);          //Set duty cycle (%)
}
int main()
{
    //Configure the terminal to high speed
    terminal.baud(115200);
 
    //Set initial motor direction
    DIRA = FORWARD;
    DIRB = FORWARD;
 
    //Set initial motor speed to stop
    PWMA.write(0.0f);           //0% duty cycle
    PWMB.write(0.0f);           //0% duty cycle
    while(1) {
        while (SW1 == PRESSED) {
            wait(0.01);
            while(SW1 == RELEASED) {
 
                for (int i = 0; i<2; i++) {
                    forward(1,1);
                    wait(3);
                    turn(90,1);
                    forward(1,1);
                    wait(1.5);
                    turn(90,1);
                                        
                }
                                wait(0.25);
                            
                                DIRA = REVERSE; // victory spin
                                DIRB = REVERSE;
                                turn(360,0);
                                turn(360,0);
                                turn(360,0);
                                turn(360,0);
    
                                
                                
                sleep();
            }
        }
    }
    //Set initial motor speed to stop
    PWMA.write(0);          //Set duty cycle (%)
    PWMB.write(0);          //Set duty cycle (%)
 
 
 
}