File content as of revision 4:6db8e0babea7:

#include "mbed.h"

//motor select pins
DigitalOut motor_lf(PTE2);
DigitalOut motor_lb(PTE3);
DigitalOut motor_rf(PTE4);
DigitalOut motor_rb(PTE5);

//Frequency of Pulse Width Modulated signal in Hz
#define PWM_FREQ          1000

//PWM pin (Enable 1 and 2)
PwmOut motor_l (PTC2);
PwmOut motor_r (PTE29);

//LED to test
DigitalOut led(LED_RED);

void set_direction( int direction, float speed, float angle)
{
    /* *******************Example Use*****************
                 set_direction("11", 0.5, 0);  //This would set the robot to go forward, at half speed, straight

                 set_directin( "11", 0.8, 0.2); //this would set robot to go forward, at 100% to the right and 60% to the left (turn right)

                 set_direction("00", 0.3, 0.7); //robot back, 100% rightmotor; 0%left (technically -40%, but 0% is min)

                 set_direction("11", 0.5, 0.5); // robot pivots forward, to the right, full speed (100% duty right ; 0% duty left)

                 set_direction("11", 0.5, -0.5); //robot pivots forward, to the left,  full speed  (0% duty right ; 100% duty left)

                 set_direction("11", 0.3, 0.5); //robot pivots forard, to the right , at 80% speed (80% right; 0% left)

                 set_direction("11", -0.3, 0.5); //robot pivotrs foward, to the right, AT 20% SPEED (20%, 0%)

                 set_direction("10", 0.5, 0);   //robot spins to teh right, at half speed. Left forward 50% ; Right forward 50%

                 set_direction("10", 0.5, 0.3); //robot spins to the right, 80% right forward ; 20% left backward

    */

    float r_result = (speed + angle); //where angle can be postive and negative and will TURN the robot
    float l_result = (speed - angle); //if turning left, you'd make the angle postive (right motor goes faster left motor goes slwoer)
    switch( direction ) {
        case 0x11: { //forward
            motor_r.write(  r_result  < 0 ? 0    :     r_result > 1 ? 1    :       r_result);
            //Look up ternary statements -- {condition ? value_if_true : value_if_false} This makes 0<result<1
            motor_l.write(  l_result < 0 ? 0     :     l_result > 1 ? 1    :       l_result);

            motor_rf=1;
            motor_rb=0;
            motor_lf=1;
            motor_lb=0;
        }
        case 0x00: { //backward
            motor_r.write( r_result  < 0 ? 0    :     r_result > 1 ? 1    :       r_result);
            motor_l.write( l_result  < 0 ? 0    :     l_result > 1 ? 1    :       l_result);

            motor_rf=0;
            motor_rb=1;
            motor_lf=0;
            motor_lb=1;
        }
        case 0x01: {  //spin left  --     Right forward, left backward
            motor_r.write( r_result  < 0 ? 0    :     r_result > 1 ? 1    :       r_result);
            motor_l.write( l_result  < 0 ? 0    :     l_result > 1 ? 1    :       l_result);

            motor_rf=1;
            motor_rb=0;
            motor_lf=0;
            motor_lb=1;
        }
        case 0x10: {    //spin right
            motor_r.write( r_result  < 0 ? 0    :     r_result > 1 ? 1    :       r_result);
            motor_l.write( l_result  < 0 ? 0    :     l_result > 1 ? 1    :       l_result);

            motor_rf=0;
            motor_rb=1;
            motor_lf=1;
            motor_lb=0;
        }
    }
}
int main()
{
//Set PWM frequency to 1000Hz
    motor_l.period( 1.0f / (float) PWM_FREQ);
    motor_r.period( 1.0f / (float) PWM_FREQ);
//Initialise direction to nothing.
    motor_rf=0;
    motor_rb=0;
    motor_lf=0;
    motor_lb=0;

    while(1) {
        
        wait(2);
        led = !led;
        set_direction(0x11, 0.5, 0);  //This would set the robot to go forward, at half speed, straight
        
        wait(2);
        led = !led;
        set_direction(0x11, 0.8, 0.2); //this would set robot to go forward, at 100% to the right and 60% to the left (turn right)

        wait(2);
        led = !led;
        set_direction(0x00, 0.3, 0.7); //robot back, 100% rightmotor; 0%left (technically -40%, but 0% is min)

        wait(2);
        led = !led;
        set_direction(0x11, 0.5, 0.5); // robot pivots forward, to the right, full speed (100% duty right ; 0% duty left)

        wait(2);
        led = !led;
        set_direction(0x11, 0.5, -0.5); //robot pivots forward, to the left,  full speed  (0% duty right ; 100% duty left)

        wait(2);
        led = !led;
        set_direction(0x11, 0.3, 0.5); //robot pivots forard, to the right , at 80% speed (80% right; 0% left)

        wait(2);
        led = !led;
        set_direction(0x11, -0.3, 0.5); //robot pivotrs foward, to the right, AT 20% SPEED (20%, 0%)

        wait(2);
        led = !led;
        set_direction(0x10, 0.5, 0);   //robot spins to teh right, at half speed. Left forward 50% ; Right forward 50%
        
        wait(2);
        led = !led;
        set_direction(0x10, 0.5, 0.3); //robot spins to the right, 80% right forward ; 20% left backward

    }


  /*  // working demo

    while(1) { //infinite loop
        //***********************************************
        myled = !myled;

        //Set duty cycle at 100% AKA Full Speed
        motor_r.write(1.0);
        motor_l.write(1.0);

        motor_rf=1;
        motor_rb=0;
        motor_lf=1;
        motor_lb=0; //go forwards
        wait(2);
        //**************************************
        myled = !myled;

        motor_r.write(0.75);
        motor_l.write(0.75);

        motor_rf=1;
        motor_rb=0;
        motor_lf=1;
        motor_lb=0; //go forwards
        //
        wait(2);

        myled = !myled;

        motor_r.write(0.5);
        motor_l.write(0.5);

        motor_rf=1;
        motor_rb=0;
        motor_lf=1;
        motor_lb=0;


        wait(2);
        myled = !myled;

        motor_r.write(0.30);
        motor_l.write(0.30);

        motor_rf=1;
        motor_rb=0;
        motor_lf=1;
        motor_lb=0;

        wait(2);

        myled = !myled;
        motor_r.write(1.0);
        motor_l.write(1.0);

        motor_rf=0;
        motor_rb=1;
        motor_lf=0;
        motor_lb=1; //go backwards
        //
        wait(2);



        myled = !myled;
        motor_r.write(0.5);
        motor_l.write(0.5);

        motor_rf=0;
        motor_rb=0;
        motor_lf=0;
        motor_lb=1; //

        wait(2);
        myled = !myled;

        motor_rf=0;
        motor_rb=1;
        motor_lf=0;
        motor_lb=0; //reverse turn

        wait(2);

        myled = !myled;
        motor_r.write(0.5);
        motor_l.write(1.0);

        motor_rf=1;
        motor_rb=0;
        motor_lf=1;
        motor_lb=0; //go forwards
        //
        wait(4);
    }*/
        


}