File content as of revision 0:fe156910301e:

#include "mbed.h"
#include "HallDecoder.h"
#include "WiiNunchuck.h"

//------------------------------------
// Hyperterminal configuration
// 9600 bauds, 8-bit data, no parity
//------------------------------------

#define HOVER_SPEED_MAX 1000

//Serial m_oPc(SERIAL_TX, SERIAL_RX);
Serial m_oPc(SERIAL_TX, SERIAL_RX);     // PA_2, PA_3 -> SERIAL2

WiiNunchuck m_oNunchuck(PA_14, PA_15);    // I2C1
#define NUNCHUCK_X_OFFSET   123
#define NUNCHUCK_Y_OFFSET   127

#define MOTOR_RIGHT_TXD     PC_4        // SERIAL1
#define MOTOR_RIGHT_RXD     NC
#define MOTOR_RIGHT_HALL1   PB_13
#define MOTOR_RIGHT_HALL2   PB_14
#define MOTOR_RIGHT_HALL3   PB_15

#define MOTOR_LEFT_TXD      PB_10       // SERIAL3
#define MOTOR_LEFT_RXD      NC
#define MOTOR_LEFT_HALL1    PB_6
#define MOTOR_LEFT_HALL2    PB_7
#define MOTOR_LEFT_HALL3    PB_9

DigitalOut myled(LED1);

int main()
{
    RawSerial oMotorRight(MOTOR_RIGHT_TXD, NC); 
    oMotorRight.baud(26315);
    oMotorRight.format(9, SerialBase::None, 1);
    
    RawSerial oMotorLeft(MOTOR_LEFT_TXD, NC); 
    oMotorLeft.baud(26315);
    oMotorLeft.format(9, SerialBase::None, 1);

    int nControl = 0;

    //HallDecoder oHallRight(MOTOR_RIGHT_HALL1, MOTOR_LEFT_HALL2, MOTOR_LEFT_HALL3);
    //int32_t nTicks = oHallRight.getticks();

    m_oPc.printf("Hello World !\n");

    wait(1);
    m_oPc.printf("SystemCoreClock = %d Hz\n", SystemCoreClock);

    myled = !myled;

    char c = ' ';
    int16_t sp=0;
    int16_t spl = 0;
    int32_t nSpeedOld = 0;

    while(1) {
        m_oPc.printf("%d\n", c);
        if(c == ' ') {
            sp=0;
        } else if(c == 'q') {
            sp -= 10;
        } else if(c == 'w') {
            sp += 10;
        } else if(c == '2') {
            sp += 100;
        }  else if(c == '1') {
            sp -= 100;
        } else if(c=='r') {
            //m_oPc.printf("Reset ticks");
            //oHallRight.resetticks();
        } else if(c=='n') {
            if(nControl==0) {
                m_oPc.printf("Change to nunchuck control");
                nControl = 1;
            } else {
                m_oPc.printf("Change to nunchuck control");
                nControl = 1;
            }
        } else if(c=='m') {
            m_oPc.printf("nunchuck x: %d\n", m_oNunchuck.joyx());
            m_oPc.printf("nunchuck x: %d\n", m_oNunchuck.joyy());
            m_oPc.printf("nunchuck c: %d\n", m_oNunchuck.buttonc());
            m_oPc.printf("nunchuck z: %d\n", m_oNunchuck.buttonz());
        }


        m_oPc.printf("speed %d\n", sp);
        
        nSpeedOld = sp;
        do {
            //if(nTicks != oHallRight.getticks()) {
            //    nTicks = oHallRight.getticks();
            //    m_oPc.printf("Ticks 1: %d\n", nTicks);
            //}

            if(nControl) {
                sp = ((m_oNunchuck.joyy()-NUNCHUCK_Y_OFFSET)*HOVER_SPEED_MAX) / 127;
                if(nSpeedOld != sp) {
                    nSpeedOld = sp;
                    m_oPc.printf("speed %d\n", sp);
                }
                if(m_oNunchuck.buttonc()) {
                    m_oPc.printf("switch back to auto mode\n");
                    nControl = 0;   // fallback to manual controll
                }
            }

            oMotorRight.putc(256);
            oMotorRight.putc(sp & 0xFF);
            oMotorRight.putc((sp >> 8) & 0xFF);
            oMotorRight.putc(sp & 0xFF);
            oMotorRight.putc((sp >> 8) & 0xFF);
            oMotorRight.putc(85);
            oMotorRight.putc(82);
            oMotorRight.putc(82);
            
            spl = sp * -1;
            oMotorLeft.putc(256);
            oMotorLeft.putc(spl & 0xFF);
            oMotorLeft.putc((spl >> 8) & 0xFF);
            oMotorLeft.putc(spl & 0xFF);
            oMotorLeft.putc((spl >> 8) & 0xFF);
            oMotorLeft.putc(85);
            oMotorLeft.putc(82);
            oMotorLeft.putc(82);
            wait_us(300);
        } while(!m_oPc.readable());
        c=m_oPc.getc();
    }
}