File content as of revision 1:236ac79b07d7:

#include "mbed.h"
#include "m3pi.h"

#define BUFF_SIZE 200


Serial pc(USBTX, USBRX);
DigitalOut myled(LED1);
DigitalOut m (LED4);
InterruptIn Msg(USBRX,PullUp);
m3pi pi;
int flag;
char clavier;
char buffer[BUFF_SIZE];

void readBattery()
{
    char s[500];
    char* s2 = "Battery:%f V\n";
    sprintf(s, s2, pi.battery());
    for (int i=0; i<strlen(s); i++) {
        pc.putc(s[i]);
    }
    pc.printf("\r");
}

void readSensors()
{
    char s[500];
    char* s2 = "Sensors:(%u,%u,%u,%u,%u) \n";
    unsigned short val[5];
    pi.calibrated_sensors(val);
    sprintf(s, s2, val[0],val[1],val[2],val[3],val[4]);
    for (int i=0; i<strlen(s); i++) {
        pc.putc(s[i]);
    }
    pc.printf("\r");
}

void Interrupt()
{
    //printf("%c",pc.getc());
    //Command(pc.getc());
    flag=1;
    m=1;
}

void Command(char c){
    switch (c) {
        case 'z':
            pi.forward(0.5);
            wait(0.5);
            pi.stop();
            break;
        case 'q':
            pi.left(0.5);
            wait(0.5);
            pi.stop();
            break;
        case 's':
            pi.backward(0.5);
            wait(0.5);
            pi.stop();
            break;
        case 'd':
            pi.right(0.5);
            wait(0.5);
            pi.stop();
            break;
        case 'b':
            readBattery();
            break;
        case 'c':
            readSensors();
            break;
    }
}

int main()
{
    pc.attach(&Interrupt);
    pc.baud(9600);
    pi.sensor_auto_calibrate();
    //clavier='a';

    //flag = 0;
    while(1) {
        ///BLINK LEDS
        myled = 1;
        wait(0.1);
        myled = 0;
        wait(0.1);
        
        ///GET INPUT
        int i = 0;
        while (pc.readable()) {
            if (i < BUFF_SIZE)
                buffer[i++] = pc.getc();
        }
        while (i > 0) {
            Command(buffer[i]);
            pi.cls();
            pi.locate(0,0);
            pi.print(&buffer[i], 1);
            i--;
        }

        /*
        if(flag) {
            clavier+=1;
            pi.print(&clavier,1);
            //clavier = pc.getc();
            
            switch (clavier) {
                case 'z':
                    pi.forward(0.5);
                    wait(0.5);
                    pi.stop();
                    break;
                case 'q':
                    pi.left(0.5);
                    wait(0.5);
                    pi.stop();
                    break;
                case 's':
                    pi.backward(0.5);
                    wait(0.5);
                    pi.stop();
                    break;
                case 'd':
                    pi.right(0.5);
                    wait(0.5);
                    pi.stop();
                    break;
                case 'b':
                    readBattery();
                    break;
                case 'c':
                    readSensors();
                    break;
            }
            flag=0;
        }
        */
    }
}