File content as of revision 2:6d12c2d70f19:

#include "mbed.h"

char Adress = 128;
//char Vit =50;
                    //Address: 130
                    //Command : 0
                    //Data: 64
                    //Checksum: 66
                    //Checksum Putc((address + 0 + speed) & 127);

Serial sbt(p9, p10); // tx, rx

DigitalOut myled1(LED1);
DigitalOut myled2(LED2);
DigitalOut myled3(LED3);
DigitalOut myled4(LED4);
DigitalOut S2 (p11);


void Led (bool l1,bool l2,bool l3,bool l4){  //Fonction pour aider au debug avec les led
  
    myled1=l1;
    myled2=l2;
    myled3=l3;
    myled4=l4;    
}
void emiss(char Code,  char Vit){
     sbt.putc(Adress);
     sbt.putc(Code); 
     sbt.putc(Vit);  
     sbt.putc((Adress+Code+Vit) & 127);
    }

void forward(char Vit) {
    emiss(0,Vit);
    emiss(4,Vit);
}
void avancer(char Vit) {
     int i=0;
     for(i; i<Vit ; i=i+(Vit/5));{
         emiss(0,i);
         emiss(4,i);
         wait(0.1);
     }
}
void arreter(char Vit){
     int i=Vit;
     for(i ; i>0;i=i-(Vit/5)){
         emiss(0,i);
         emiss(4,i);
         wait(0.1);}
     emiss(0,0);
     emiss(4,0);
}
void arret_urgence(void) {
     emiss(0,0);
     emiss(4,0);
}
void reculer(char Vit) {
     for(int i =0; i<Vit;i=i+5){
     emiss(1,i);
     emiss(5,i);
     wait(0.1);}
}
void tourner_droite(char Vit) {
     emiss(0,Vit);
     emiss(5,Vit);   
     wait(0.125);
     emiss(0,0);
     emiss(5,0);  
}
void tourner_gauche(char Vit) {
     emiss(1,Vit);
     emiss(4,Vit);   
     wait(0.125);
     emiss(1,0);
     emiss(4,0);  
}
void demi_tour_droite(char Vit) {
     emiss(0,Vit);
     emiss(5,Vit);   
     wait(0.75);
     emiss(0,0);
     emiss(5,0);      
}
void demi_tour_gauche(char Vit) {
     emiss(1,Vit);
     emiss(4,Vit);   
     wait(0.75);
     emiss(1,0);
     emiss(4,0);  
}
void myVG (char Vit , char Ang){
    emiss(1,Vit);
    emiss(4,Vit);   
    wait((Ang*0.44)/Vit);
    emiss(1,0);
    emiss(4,0);
    }
int main (){
    while (1){
        Led (1,0,0,0);
        S2=0;
        wait(1);
    avancer(70);
        Led (1,1,0,0);
        wait(1);
    arreter(70);
        wait(0.5);
    reculer(70);
        Led (1,1,1,0);
        wait(1);
    arret_urgence();
        wait(0.5);
    tourner_gauche(120);
        Led (1,1,1,1);
        wait(1);
    tourner_droite(120);
        Led (0,1,1,1);
        wait(1);
    demi_tour_gauche(120);
        Led (0,0,1,1);
        wait(1);
    demi_tour_droite(120);   
        Led (0,0,0,1);
 
    }
}