File content as of revision 10:94b068b2ce1d:

/**
 * @file    driver.c
 * @brief   Basic driver program for our robot's controller logic. 
 *
 * Maybe add lots of stuff here or maybe split it off into
 * multiple subfiles?
 *
 * @author  John Wilkey
 */
#include "main.h"
#include "control.h"

/** 
 * These are global data Used externally in all other files 
 */
m3pi        pi;

//
// Digital inputs to the mBed
DigitalIn   start_button(p21);

//
// Digital outputs from the mBed. Note that by default these are
// used to drive the 8 LED's on the top board. 
DigitalOut  pin15(p15);
DigitalOut  pin16(p16);
DigitalOut  pin17(p17);
DigitalOut  pin18(p18);
DigitalOut  pin19(p19);
DigitalOut  pin20(p20);

// 
// mBed onboard LEDs
DigitalOut  oled_1(LED1);
DigitalOut  oled_2(LED2);
DigitalOut  oled_3(LED3);
DigitalOut  oled_4(LED4);


/**
 * @brief Entry point. Main loop.
 */
int main()
{
    //
    // Basic setup information
    start_button.mode(PullUp);
    
    pi.locate(0,0);
    pi.printf("PiCO");
    pi.locate(0,1);
    pi.printf("%f mV", pi.battery());
    wait(.2);
    while(!start_button) {
        oled_2 = 1;
        wait(.2);
        pi.locate(0,0);
        pi.printf("Ready");
        oled_2 = 0;
    }
    pi.locate(0,0);
    pi.printf("GO!");
    wait(.2);

    //
    // Main program loop.
    robot_loop();
    
    //
    // We should never reach this point!
}

int forward(int amt)
{
    oled_2 = 1;
    pi.locate(0,0);
    pi.printf("Fwd %d", amt);
    pi.forward(DRIVE_SPEED);
    wait(amt*DRIVE_RATE);
    oled_2 = 0;
    return EXIT_SUCCESS;
}

int backward(int amt)
{
    oled_3 = 1;
    pi.locate(0,0);
    pi.printf("Back %d", amt);
    pi.backward(DRIVE_SPEED);
    wait(amt*DRIVE_RATE);
    oled_3 = 0;
    return EXIT_SUCCESS;
}

int right(float deg)
{
    oled_4 = 1;
    pi.locate(0,0);
    pi.printf("Right %f", deg);
    pi.right(TURN_SPEED);
    wait(deg/360);
    oled_4 = 0;
    return EXIT_SUCCESS;
}

int left(float deg)
{
    oled_4 = 1;
    oled_2 = 1;
    pi.locate(0,0);
    pi.printf("Left %f", deg);
    pi.left(TURN_SPEED);
    wait(deg/360);
    oled_4 = 0;
    oled_2 = 0;
    return EXIT_SUCCESS;
}

void pen_down()
{
    oled_1 = 1;
}

void pen_up()
{
    oled_1 = 0;
}