File content as of revision 2:cc7b01c5a9b0:

#include "mbed.h"
#include "m3pi_ng.h"
#include "cmath"
#include "iostream"
#include "btbee.h"
 
using namespace std;
 
m3pi thinggy;
btbee btbee; 

DigitalOut mbed_led[] = {(LED1), (LED2),(LED3), (LED4)};
DigitalOut m3pi_led[] = {(p13), (p14), (p15), (p16), (p17), (p18), (p19), (p20)};
DigitalIn m3pi_pb(p21);
 
int main() {
    
    //..................................................................................................\\
    //......BlueTooth Communication.....................................................................\\
    //..................................................................................................\\
    
    // initialization stuff ////////////////////////////////////////////////////////////////////////////////////////////////////
   thinggy.locate(0,1);
   btbee.reset();
   for (int i = 0; i <4; i++) {
       mbed_led[i] = 0;
   }
   for (int i = 0; i <8; i++) {
       m3pi_led[i]=0;
   }
   m3pi_pb.mode(PullUp); // expected would be 1 when pb is pressed, 0 when not, opposite is the case

   // end initialization stuff ////////////////////////////////////////////////////////////////////////////////////////////////

   thinggy.locate(0,0);
   wait(0.3);
   
   thinggy.locate(0,0);
   thinggy.printf("%s","Tell Me");
   thinggy.locate(0,1);
   thinggy.printf("%s","  Why  ");

   // wait for the user to push P21, should be pressed when the bt link is established (green led "link")
   while(m3pi_pb) {
       m3pi_led[0]=!m3pi_led[0];
       wait(0.1);
   }

   int iline=1;
   char arr_read[30]; // this should be long enough to store any reply coming in over bt.
   int  chars_read;   // number of chars read in a bt reply
   bool go = true;
   while (go) {
       // this writes "Line 001\n" to "Line 005\n" and then "end\n" to the btbee
       if ( btbee.writeable() ) {
           if (iline==6) {
               btbee.printf("Your Turn!\n");
               iline++;
           }//if
           else {
               if (iline <6){
               btbee.printf("Line %0.3d \n",iline);
               thinggy.locate(0,0);
               thinggy.printf("Sent %0.3d",iline);
               iline++;
               }
           }//else
       }//if_write
       go = false;
    } // while_true
    
    go = true;
    
    
    /*
    while(go){
       // wait for an input
      while ( !btbee.readable() ) {
           wait(0.01);
           thinggy.locate(0,0);
           thinggy.printf("I'm waiting");
       }//while_notReadable
    */  
       // check for answers after each write /not write
       while ( btbee.readable() ) {
           btbee.read_all(arr_read, 30, &chars_read );
           thinggy.locate(0,0);
           thinggy.cls();
           thinggy.printf("IGotMsg!");
           if (arr_read[0] == 'l'){
               thinggy.locate(0,1);
               thinggy.cls();
               thinggy.printf("TurningL");
               // add code to turn left
               }
           else if (arr_read[0] == 'r'){
               thinggy.locate(0,1);
               thinggy.cls();
               thinggy.printf("TurningR");
               // add code to turn right
               }
           else if (arr_read[0] == 'f'){
               thinggy.locate(0,1);
               thinggy.cls();
               thinggy.printf("GoingFwd");
               // add code to go forward
               }
           
           
           //thinggy.print(arr_read,chars_read);
       }//while_readable
       
       wait(0.1);
   }//while_true
    
    //..................................................................................................\\
    //......End BlueTooth Communication.................................................................\\
    //..................................................................................................\\
    
/*    
    
    
    
    float speed = 0.25;
    float correction;
    float k = -0.3;
    int sensor[5];
    int returned;   
    thinggy.locate(0,1);
    thinggy.printf("Villan");
    thinggy.locate(0,0);
    thinggy.printf("Pimpin");
    
    
    
    wait(1.0);
 
    thinggy.sensor_auto_calibrate();
 
    thinggy.calibrated_sensor(sensor);
    returned = (sensor[1] + sensor[2] + sensor[3])/3;
 
    
    
    while(1) {
        // change "if" to while
        while(returned < 220){
                while(sensor[0] < sensor[4] && thinggy.line_position() != 0){
                    thinggy.left_motor(.2);
                    thinggy.right_motor(-.2);
                    thinggy.calibrated_sensor(sensor);
                }
                while(sensor[4] > sensor[0] && thinggy.line_position() != 0){
                    thinggy.left_motor(-.2);
                    thinggy.right_motor(.2);
                    thinggy.calibrated_sensor(sensor);
                }
                thinggy.calibrated_sensor(sensor);
                returned = (sensor[1] + sensor[2] + sensor[3])/3;
        }
        
        // Curves and straightaways    
        while(returned > 220){
 
        float position = thinggy.line_position();
        correction = k*(position);
       
         // -1.0 is far left, 1.0 is far right, 0.0 in the middle
        
        //speed limiting for right motor
        if(speed + correction > 1){
            thinggy.right_motor(0.6);
            thinggy.left_motor(speed-correction);
        } 
        else if(speed - correction > 1){
            thinggy.right_motor(speed+correction);
            thinggy.left_motor(0.6);
        }
        else{
            thinggy.left_motor(speed-correction);
            thinggy.right_motor(speed+correction);
        }
         thinggy.calibrated_sensor(sensor);
         returned = (sensor[1] + sensor[2] + sensor[3])/3;   
        }
    thinggy.calibrated_sensor(sensor);
    returned = (sensor[1] + sensor[2] + sensor[3])/3;
    }
*/