File content as of revision 2:e9042e88abf1:

#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 'v':   //STOP
      this->stop(); break;
    case 'w':   //STRAIGHT
      //pc.putc('g');
      this->straight(getStraightSpeed()); break;
    case 's':   //STRAIGHT SLOW
      //pc.putc('g');
      this->straight(getStraightSlowSpeed()); break;
    case 'a':   //ROTATE LEFT MEDIUM
      this->left(getRotateSpeed()); break;
    case 'd':   //ROTATE RIGHT MEDIUM
      this->right(getRotateSpeed()); break;
    case 'x':   //BACKWARDS
      this->backwards(getStraightSlowSpeed()); break;
    case 'q':   //ROTATE LEFT FAST (CHANGE TO CIRCLE)
      pc.putc('g');  
      this->left(getRotateFastSpeed()); break;
    case 'e':   //ROTATE RIGHT FAST (CHANGE TO CIRCLE) 
      this->right(getRotateFastSpeed()); break;
    case 'z':
      this->left(getRotateSlowSpeed()); break;
    case 'c':
      this->right(getRotateSlowSpeed()); break;
    case '1':
      this->flipLeft(); break;
    case '3':
      this->flipRight(); break;
    }
}