File content as of revision 3:b3ec75e9163f:

#include "WirelessMousr.h"
#define INSTRUCTION 0
#define VELOCITY 1

WirelessMousr::WirelessMousr() : Mousr(), pc(p28, p27) {}
//WirelessMousr::WirelessMousr() : Mousr(), pc(USBTX, USBRX) {}

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

void WirelessMousr::rxCallback()
{
    char message = this->pc.getc(); // read RX character, clearing interrupt
    static char oldstate;
    char newstate;
    float pwmval;
    int numerator;
    float denominator;
    this->pc.putc(message);
    this->pc.putc('\n');
    newstate = message;
    
        
        if ((oldstate == 'l') || (oldstate == 'r'))
        {
            this->pc.putc('V');
            
            numerator = ((int)message - 128);
            denominator =  (float) 128;
            pwmval = ((float) numerator) / denominator;
            if (oldstate == 'l')
            {         
                 this->lefttire(pwmval);
                 this->pc.putc('L');
                 this->pc.putc('L');
            }
            else if (oldstate == 'r')
            {
                this->righttire(pwmval);
                this->pc.putc('R');
                this->pc.putc('R');
            }
        }
        else
        {
                switch(message)
                {
                case 'q':   //STOP
                    this->left90(); 
                    this->pc.putc('L');
                    this->pc.putc('9');
                    this->pc.putc('0');
                    this->pc.putc('\n');
                    break;
                case 'a':   //STRAIGHT
                    this->left180(); 
                    this->pc.putc('L');
                    this->pc.putc('8');
                    this->pc.putc('0');
                    this->pc.putc('\n');
                    break;
                case 'e':   //STRAIGHT SLOW
                    this->right90(); 
                    this->pc.putc('R');
                    this->pc.putc('9');
                    this->pc.putc('0');
                    this->pc.putc('\n');
                    break;
                case 'd':   //ROTATE LEFT MEDIUM
                    this->right180(); 
                    this->pc.putc('R');
                    this->pc.putc('8');
                    this->pc.putc('0');
                    this->pc.putc('\n');
                    break;
                case 's':   //ROTATE RIGHT MEDIUM
                  this->stop();
                    this->pc.putc('S');
                    this->pc.putc('T');
                    this->pc.putc('P');
                    this->pc.putc('\n'); break;
                }
        }
   // }
    
    oldstate = newstate;    
    
}