File content as of revision 0:8bffb51cc345:

#include "mbed.h"
#include "robot.h" // Initializes the robot. This include should be used in all main.cpp!
#include "math.h"

float dist(float robot_x, float robot_y, float target_x, float target_y);

int main(){
    initRobot();
    pc.baud(9600); // baud for the pc communication

    float target_x=46.8, target_y=78.6;

    float angle_error; //angle error
    float d; //distance from target
    float k_linear=10, k_angular=200;
    float linear, angular, angular_left, angular_right;

    float r=3.25, b=7.2;

    int speed=999;

    theta=0;
    X=0;
    Y=0;

    do {
        pc.printf("\n\n\r entered while");

        Odometria();

        angle_error = atan2((target_y-Y),(target_x-X))-theta;
        angle_error = atan(sin(angle_error)/cos(angle_error));
        d=dist(X, Y, target_x, target_y);
        pc.printf("\n\r d=%f", d);

        linear=k_linear*d;
        angular=k_angular*angle_error;
        angular_left=(linear-0.5*b*angular)/r;
        angular_right=(linear+0.5*b*angular)/r;

        if (d<25) {
            speed = d*30;
        }
        if(angular_left>angular_right) {
            angular_right=speed*angular_right/angular_left;
            angular_left=speed;
        } else {
            angular_left=speed*angular_left/angular_right;
            angular_right=speed;
        }

        pc.printf("\n\r X=%f", X);
        pc.printf("\n\r Y=%f", Y);

        leftMotor(1,1*angular_left);
        rightMotor(1,1*angular_right);

        wait(0.5);
    } while(d>1);

    leftMotor(1,0);
    rightMotor(1,0);

    pc.printf("\n\r %f -- arrived!", d);
}

float dist(float robot_x, float robot_y, float target_x, float target_y){
    return sqrt(pow(target_y-robot_y,2) + pow(target_x-robot_x,2));
}