File content as of revision 2:bf34b86aa0f3:

#include "robot.h"

Timer mbed_uptime;
int timer_minute_count;
Ticker timer_ticker;
volatile char i2c_lock = 0;

char debug_mode = DEBUG_MODE;
char debug_output = DEBUG_OUTPUT_STREAM;

Led led;
Sensors sensors;
Motors motors;

Serial pc(USBTX,USBRX);
I2C primary_i2c (p9, p10);
Serial bt(p14,p13);
DigitalOut case_led(p15);
DigitalOut mbed_led1(LED1);
DigitalOut mbed_led2(LED2);
DigitalOut mbed_led3(LED3);
DigitalOut mbed_led4(LED4);
AnalogIn vin_battery(p17);


// Public functions

void Robot::init(){
    //Start the uptime timer
    timer_minute_count = 0;
    timer_ticker.attach(this,&Robot::_update_minutes, 300);  //Update minutes resets the uptime timer every 5 minutes to prevent stop overruns
    mbed_uptime.start();   
    
    //Setup serial interfaces
    setup_serial_interfaces();
    debug("Practical Robotics Modular Robot\n");
    
    //Setup the primary i2c bus to 400kHz baud rate
    primary_i2c.frequency(400000);

    //Send a reset signal to the LED driver
    debug("Resetting LED driver    :  ");
    if(led.reset_led_driver() != 0)debug("FAILED\n");
    else debug("SUCCESS\n");
    wait(0.05);

    //Send the initialisation signal to the LED driver
    debug("Initialising LED driver :  ");
    if(led.init_led_driver() != 0)debug("FAILED\n");
    else debug("SUCCESS\n");
    
    wait(0.05);

    //Start the Sharp sensor ticker
    debug("Starting distance sensor ticker...\n");
    sensors.start_sensor_ticker();
    
    wait(0.05);
    
    //Setup the h-bridge drivers
    debug("Starting the H-bridge drivers...\n");
    motors.init();
}

float Robot::get_uptime(void)
{
    return mbed_uptime.read() + (timer_minute_count * 60);
}

float Robot::get_battery_voltage(void)
{
    // Voltage is measured through a 7.5V zener diode followed by a 1:1 potential divider
    
    float measure_voltage = ZENER_VOLTAGE + (vin_battery.read() * BATTERY_PD_MULTIPLIER);
    return measure_voltage;
}

void Robot::debug(const char* format, ...)
{
    char buffer[256];
    if (debug_mode) {
        va_list vl;
        va_start(vl, format);
        vsprintf(buffer,format,vl);
        if(debug_output & 2) bt.printf("%s", buffer);
        if(debug_output & 1) pc.printf("%s", buffer);
        va_end(vl);
    }
}

void Robot::setup_serial_interfaces()
{
    if(ENABLE_PC_SERIAL) {
        pc.baud(PC_BAUD);
        pc.attach(this,&Robot::_pc_rx_callback, Serial::RxIrq);
    }
    if(ENABLE_BLUETOOTH) {
        bt.baud(BLUETOOTH_BAUD);
        bt.attach(this,&Robot::_bt_rx_callback, Serial::RxIrq);
    }
}

// Private functions

void Robot::_pc_rx_callback()
{
    
}

void Robot::_bt_rx_callback()
{
 
}


void Robot::_update_minutes()
{
    mbed_uptime.reset();
    timer_minute_count += 5;
}