File content as of revision 9:65a9aad9a5b5:

#include "drivecontrol.h"
//#include "pin_assignment.h"
#include "io_modules.h"
#include "mbed.h"

// Battery Debugger Interface
AnalogIn battery(PA_3);


// Led Debugger Interface
DigitalOut led_1(PB_12);
DigitalOut led_2(PB_13);
DigitalOut led_3(PB_14);
DigitalOut led_4(PB_15);

// System io
Serial serial (PA_9, PA_10);

// Define states for debugging the mouse hardware
// const int DRIVE = 1, TURN = 2, DEBUG = 3, STOP = 4;
// Direction of which to turn
// const int LEFT = 0, RIGHT = 1;
// Start and End Pos
const int START_POS = 0, END_POS = 0;

// Terminating condition for the main control loop
bool hasFoundCenter = false;

// Battery Consumption Indicator
void setup() {
    // pc.baud(9600);
    // using the serial functions will have an impact on timing.
//    serial.printf("voltage value is: %3.3f%%\r\n", battery.read()*100.0f);
    // serial.printf("normalized: 0x%04X \r\n", battery.read_u16());
    if (battery.read() < 0.67f){
        // flash led
        led_1 = 1;
        led_2 = 1;
        led_3 = 1;
        led_4 = 1;
    }  
}

// Performs the basic drive control of the mouse
int main() {
    DriveControl * driver = new DriveControl (START_POS, END_POS);
    while(1) {
        setup();
        led_1 = 1;
        driver->getEncoder();
        //wait(1);
        if (!driver->has_front_wall()) {
            driver->drive_forward();
        }
        else{
            driver->stop();
        }
        //wait_ms(1);
        /*
        else if (!driver->has_right_wall) {
            // driver->turn_right();
            // turn_right() in drivecontrol will call pid_controller::turn(RIGHT)   
        }
        else if (!driver->has_left_wall) {
            // driver->turn_left()
        }
        else { // has all three walls
            // driver->turn_around();
        }*/
        
     
//        driver->stop();
    }
}