File content as of revision 0:78e2af20cbf3:

#include "WirelessMousr.h"

WirelessMousr::WirelessMousr() : Mousr(), pc(p28, p27) {}

int WirelessMousr::init()
{
    pc.attach(this,&WirelessMousr::rxCallback);
    wait(0.1);
    return 0;
}

void WirelessMousr::rxCallback()
{
    char state = this->pc.getc(); // read RX character, clearing interrupt
    pc.putc(state); // loopback
    pc.putc(10);
    
    // state machine
    switch(state) {
    case 's':
      this->stop(); break;
    case 'w':
      this->straight(getStraightSpeed()); break;
    case 'a':
      this->left(getRotateSpeed()); wait(0.25); stop(); break;
    case 'd':
      this->right(getRotateSpeed()); wait(0.25); stop(); break;
    case 'x':
      this->backwards(getStraightSpeed()); break;
    case 'q':
      this->left(getRotateFastSpeed()); break;
    case 'e':
      this->right(getRotateFastSpeed()); break;
    case 'z':
      this->left(getRotateSlowSpeed()); break;
    case 'c':
      this->right(getRotateSlowSpeed()); break;
    }
}