File content as of revision 0:63321f7d8d0c:

/*
 *   Crealab : version Scratch  
 */
 
#undef printf
#include "Crealab.h"

Serial pc_uart(USBTX, USBRX); // USBTX = PA2
Serial bt_uart(PA_9, PA_10);  // PA9 = Tx, PA10 = Rx
uint32_t go;

// ---------------- PIN DEFINITIONS ---------------------

InterruptIn  buttonBox(PA_12);

// --- Define the Four PINs & Time of movement used for Motor drive
Motor motorRD(PA_4, PA_3, PA_1, PA_0);
Motor motorRG(PA_8, PA_11, PB_5, PB_4);
Creabot mybot(&motorRG, &motorRD, 8.14f,9.6f); // insert the motors and indicate wheel diameter and distance between wheels

bool receivedCOMMAND;
char commandRECEIVED;
int parameterRECEIVED;
int state;
char commandLine[256];
int commandPosition;

void help() // Display list of Commands
{
    DEBUG("List of commands:\n\r");
    DEBUG(" h --> Help, display list of commands\n\r");
}

void callback() {
    switch(state){
     case 0:
       break;
     case 1:
       break;
     case 2:
       break;
     case 3:
       break;
     default:
     }
    state=state+1;
}

/* Stop all processes */
void stop_all()
{
    mybot.stopMove();
}

void clicked()
{
    DEBUG("Labyrinthe\n\r");
    commandRECEIVED = 'l';
    receivedCOMMAND = true;
}

void labyrinthe() 
{
     wait(1);
     mybot.move(FORWARD,35);
     mybot.waitEndMove();
     mybot.move(LEFT, 45);
     mybot.waitEndMove();
     mybot.move(FORWARD,26);
     mybot.waitEndMove();
     mybot.move(RIGHT, 45);
     mybot.waitEndMove();
     mybot.move(FORWARD,8);
     mybot.waitEndMove();
     mybot.move(BACKWARD, 14); 
     mybot.waitEndMove();
     mybot.move(ROTATE, 178);
     mybot.waitEndMove();
     mybot.move(FORWARD, 15);
     mybot.waitEndMove();
     mybot.move(RIGHT, 90);
     mybot.waitEndMove();
     mybot.move(FORWARD,14);
     mybot.waitEndMove();
     mybot.move(RIGHT, 85);
     mybot.waitEndMove();
     mybot.move(FORWARD,55);
     mybot.waitEndMove();                        
}

void executeCommand(char c, int parameter) {
        bool flaghelp = false;
        switch (c) {
            case 'h':
                help();
                state=0;
                flaghelp=true;
                CASE('a', "Avance   <cm>  (a <cm>)  => Avance du nombre de cm indiques", mybot.move(FORWARD,parameter);    )
                CASE('r', "Recule   <cm>  (r <cm>)  => Recule du nombre de cm indiques", mybot.move(BACKWARD,parameter);    )
                CASE('d', "Droite   <deg> (d <deg>) => Tourne a droite du nombre de degres indiques", mybot.move(RIGHT,parameter,0);    )
                CASE('g', "Gauche   <deg> (g <deg>) => Tourne a gauche du nombre de degres indiques", mybot.move(LEFT,parameter,0);    )
                CASE('p', "Pivote_d <deh> (p <deg>) => pivote a droite du nombre de degres indiques", mybot.move(ROTATE,parameter);    )
                CASE('q', "Pivote_g <deg> (q <deg>) => pivote a gauche du nombre de degres indiques", mybot.move(ROTATE,-parameter);    )
                CASE('s', "Stop                     => Arrete les moteurs", mybot.stopMove(); state=0;  )
                CASE('l', "Labyrinthe               => Lance le parcours Labyrinthe", labyrinthe();  )
            default :
                DEBUG("invalid command; use: 'h' for help()\n\r");
                state=0;
        }}
        
void analyseCommand(char *command, int parameter) {
    parameterRECEIVED = parameter;
    switch(command[0]) {
        case 'A':
        case 'a':
            commandRECEIVED = 'a';
            break;
        case 'R':
        case 'r':
            commandRECEIVED = 'r';
             break;
        case 'D':
        case 'd':
            commandRECEIVED = 'd';
             break;
        case 'G':
        case 'g':
            commandRECEIVED = 'g';
             break;
        case 'L':
        case 'l':
            commandRECEIVED = 'l';
             break;
        case 'P':
            if(command[7]=='d') {
               commandRECEIVED = 'p';
            } else if (command[7]=='g') {
               commandRECEIVED = 'q';
            } else {
               commandRECEIVED = 'h';
            }
             break;
        case 'p':
            commandRECEIVED = 'p';
             break;
        case 'q':
            commandRECEIVED = 'q';
             break;
        case 'S':
        case 's':
            commandRECEIVED = 's';
            mybot.stopMove(); state=0;
             break;
       default:
            commandRECEIVED = 'h';
    } }

void checkCommand(int result, char *command, int parameter) {
    if(result==2 || command[0]=='h' || command[0]=='s') {
        if(command[0]=='c') {
            DEBUG("CREABOT PRESENT\n\r"); 
        } else {
            analyseCommand(command, parameter);        
            receivedCOMMAND = true;
        }
    } }

void split(char *line, int length) {
    char command[256];
    int parameter=0;
    int result = 1;
    int i=0;
    int j=0;
    while(i<length && line[i]==' ') {
        i++;
    }
    while(i<length && line[i]!=' ') {
         command[j]=line[i];
       i++;
        j++;
    }
    command[j]=0;
    i++;
    j=0;
     while(i<length && line[i]!=' ' && line[i]>='0' && line[i]<='9') {
       i++;
        j++;
    }
    if(j>0) {
        result++;
           i--;
        int k=1;
        while(j>0) {
           parameter += (line[i]-'0')*k;
            j--;
           i--;
           k=k*10;
        }
  }
  checkCommand(result, command, parameter);
}

void storeC(char c) {
    if(c==10 || c==13|| commandPosition >= 254) {
       split(commandLine, commandPosition);   
       commandPosition=0;
    } else {
      commandLine[commandPosition++]=c;
      commandLine[commandPosition]=0;
    }   
}

void getBT() {
    char c = bt_uart.getc();
    storeC(c);
}

void getPC() {
    char c = pc_uart.getc();
    // DEBUG("ENTERING INSIDE GETPC '%c' - %d\n\r", c, c);
    storeC(c);
}

void endOfMove(int status) {
    DEBUG("ENDOFMOVE\n\r");
    state=0;
}

/* Main Routine */
int main()
{
    /* Connect EoC button */
    CATCH_BUTTON(buttonBox,clicked);

    commandPosition=0;
    bt_uart.attach(getBT);
    pc_uart.attach(getPC);
    mybot.setCallBack(endOfMove);
    mybot.setSpeed(6.5); // max 8 cm.s, average 5 cm.s
    state=0;
    receivedCOMMAND = false;
    DEBUG("CREABOT alpha version\n\r");
    while(1) {
       if(state==0 && receivedCOMMAND) {
            receivedCOMMAND = false;
            state=1;
            executeCommand(commandRECEIVED, parameterRECEIVED);
        } 
        wait(0.1);
    }
}