File content as of revision 2:d40301306dd7:

#include "mbed.h"
#include "Serial_HL.h"
#include "Bertl14.h"
#include "BertlObjects.h"

BusOut boardPow(p30, P1_6,P1_7);

Timer t_main;
Timer t_blink;

void Forward();
void RightCurve();
void LeftCurve();

int main(void) {
    boardPow=1; wait_ms(10);
    InitBertl();
    pex.useISR=0; leds=9;
    pex.ClearLeds();
    pex.WaitUntilFrontButtonPressed();
    t_main.start();
    t_blink.start();
    
    while(1) {
        pex.ReadButtons(); 
        if(pex.IsButton(BTN_FM)) Forward();
        if(pex.IsButton(BTN_FRR)) RightCurve();
        if(pex.IsButton(BTN_FLL)) LeftCurve();
    }
}

void Forward() {
    t_main.reset();
    t_blink.reset();
    mL.SetPow(0.3);mR.SetPow(0.3);
    
    while (t_main.read_ms() < 5000) {
        if (t_blink.read_ms() > 100) {
            t_blink.reset();
            pex.ToggleLeds(LED_FL1|LED_FR1);
        }
    }
    pex.ClearLeds();
    mL.SetPow(0);mR.SetPow(0);
}

void RightCurve() {
    t_main.reset();
    t_blink.reset();
    mL.SetPow(0.3);mR.SetPow(0.15);
    
    while (t_main.read_ms() < 5000) {
        if (t_blink.read_ms() > 100) {
            t_blink.reset();
            pex.ToggleLeds(LED_FR1);
        }
    }
    pex.ClearLeds();
    mL.SetPow(0);mR.SetPow(0);
}
    
void LeftCurve() {
    t_main.reset();
    t_blink.reset();
    mL.SetPow(0.15);mR.SetPow(0.3);
    
    while (t_main.read_ms() < 5000) {
        if (t_blink.read_ms() > 100) {
            t_blink.reset();
            pex.ToggleLeds(LED_FL1);
        }
    }
    pex.ClearLeds();
    mL.SetPow(0);mR.SetPow(0);
}