File content as of revision 1:13c4bf8989d5:

#pragma once
#include "Command.h"
#include "mbed.h"
#include "Motor.h"

Motor _RIGHT_WHEEL(p25, p6, p5); // Motor A pwm, fwd, rev
Motor _LEFT_WHEEL(p26, p7, p8);//Motor B pwm, fwd, rev
DigitalOut _STBY(p11); // Set STBY = 1, enable both motor; Set STBY = 0; disable both motor. 
AnalogIn _IR(p17); //IR sensor
DigitalOut _LED1(LED1);

DigitalIn _LEFT_ENCODER(p19);
DigitalIn _RIGHT_ENCODER(p20);

Serial pc(USBTX,USBRX);

Command::Command():_LEFT_SPEED(0),_RIGHT_SPEED(0)
{}    

void Command::setSpeed(const std::int8_t& l_sp,const std::int8_t& r_sp)
{
    _STBY = 1;
    _LEFT_SPEED = l_sp;
    _RIGHT_SPEED = r_sp;
}

void LedCommand :: execute()
{
    _LED1 = !_LED1;
}

void TurnLeftCommand :: execute()
{
    _STBY = 1;
    _RIGHT_WHEEL.speed(_RIGHT_SPEED);
    _LEFT_WHEEL.speed(_LEFT_SPEED);
}

void TurnRightCommand :: execute()
{
    _STBY = 1;
    _RIGHT_WHEEL.speed(_RIGHT_SPEED);
    _LEFT_WHEEL.speed(_LEFT_SPEED);
}

void MoveForwardCommand :: execute()
{
    _STBY = 1;
    _RIGHT_WHEEL.speed(0.5);
    _LEFT_WHEEL.speed(0.5);
}

void MoveBackwardCommand :: execute()
{

    _STBY = 1;
    _RIGHT_WHEEL.speed(_RIGHT_SPEED);
    _LEFT_WHEEL.speed(_LEFT_SPEED);
}

void StopCommand :: execute()
{ 
    _RIGHT_WHEEL.speed(_RIGHT_SPEED);
    _LEFT_WHEEL.speed(_LEFT_SPEED);
}