File content as of revision 2:7ca8b2154664:

#include "mbed.h"
/*
MOTOR A
ENA - p21
IN1 - p5    --> OUT1 - MOTORA+
IN2 - p6    --> OUT2 - MOTORA-
MOTOR B
ENB - p22
IN3 - p26   --> OUT3 - MOTORB+
IN4 - p25   --> OUT4 - MOTORB-
*/

Timeout systicker;

PwmOut in1(p5);
PwmOut in2(p6);

PwmOut in3(p26);
PwmOut in4(p25);

DigitalOut en_a(p21);
DigitalOut en_b(p22);

DigitalOut LED(LED1);

Serial bluetooth(p9, p10);
Serial pc(USBTX, USBRX);


void SysTick_handler()
{
    in1.write(0.5);
    in2.write(0.5);
    in3.write(0.5);
    in4.write(0.5);
}

/* Initialize timers for the H-bridge*/
int init_drive()
{
// Set PWM frequency to 10 kHz
    in1.period_us(100);
    in2.period_us(100);
    in3.period_us(100);
    in4.period_us(100);
    /* Set enable pin high. NEVER set this pins low during driving.
    There are no protection diodes and with EN low, H-bridge is in Hi-Z mode.
    This can generate a high voltage that breaks the H-bridge.*/
    en_a.write(1);
    en_b.write(1);

    return 1;
}

/*Handler for Bluetooth messages*/
void rxCallback()
{
    char a;
    a = bluetooth.getc();
    if(a == 'g') {
        LED = 1;
    }
}

void rxPCCallback()
{
    int i;
    char c;
    c = pc.getc();
    switch (c) {
            // Forward direction
        case 'w':
            in1.write(1.0);
            in2.write(0.0);
            in3.write(1.0);
            in4.write(0.0);
            systicker.attach(&SysTick_handler, 0.6);
            break;
            // Backward direction
        case 's':
            in1.write(0.0);
            in2.write(1.0);
            in3.write(0.0);
            in4.write(1.0);
            break;
            // Left direction
        case 'a':
            in1.write(1.0);
            in2.write(0.0);
            in3.write(0.0);
            in4.write(0.0);
            break;
        case 'd':
            in1.write(0.0);
            in2.write(1.0);
            in3.write(0.0);
            in4.write(0.0);
            break;
        default:
            in1.write(0.5);
            in2.write(0.5);
            in3.write(0.5);
            in4.write(0.5);
    }


}

/* Initialize the bluetooth module*/
int init_bluetooth()
{
    bluetooth.baud(9600);
    //wait(0.2);
    //bluetooth.printf("AT+NAMETHOR1\r\n");
    bluetooth.attach(&rxCallback, Serial::RxIrq);

    return 1;
}

/* Initialize ADC ports*/
int init_ADC()
{
    return 1;
}


/* Initialize GPIO's*/
int init_GPIO()
{
    return 1;
}

int main()
{
    pc.baud(9600);
    //wait(0.2);
    //bluetooth.printf("AT+NAMETHOR1\r\n");
    pc.attach(&rxPCCallback, Serial::RxIrq);

    init_drive();
//    init_bluetooth();

    

    while(1) {

    /*        if(pc.readable()) {
                bluetooth.putc(pc.getc());
            }
            if(bluetooth.readable()) {
                pc.putc(bluetooth.getc());
            }*/
}

}