File content as of revision 0:1be634fcf3e8:

#include "mbed.h"
#include "BLEPeripheral.h"
#include "motordriver.h"
#include "stdint.h"

//*******************************
// Must define Serial serial and SPI spi
// BLE_RDY and BLE_REQ
//*******************************

Serial serial(USBTX, USBRX);
// The SPI construct, REQN and RDYN IO construct should be modified manually
// It depend on the board you are using and the REQN&RDYN configuration on BLE Shield
SPI spi(p5, p6, p7);      
DigitalInOut BLE_RDY(p8);  
DigitalInOut BLE_REQ(p9);
DigitalInOut BLE_RST(p10);

//Motor Pins
Motor left(p21, p22, p23, 1); //pwm fwd ref has brake feature
Motor right(p26,p25,p24, 1);

//maybe ir sensors

/*----- BLE Utility -------------------------------------------------------------------------*/
// create peripheral instance, see pinouts above
BLEPeripheral            blePeripheral        = BLEPeripheral(&BLE_REQ, &BLE_RDY, &BLE_RST);
 
// create service
BLEService               uartService          = BLEService("713d0000503e4c75ba943148f18d941e");
 
// create characteristic
BLECharacteristic    txCharacteristic = BLECharacteristic("713d0002503e4c75ba943148f18d941e", BLENotify, 20);
BLECharacteristic    rxCharacteristic = BLECharacteristic("713d0003503e4c75ba943148f18d941e", BLEWriteWithoutResponse, 20);
/*--------------------------------------------------------------------------------------------*/
 

unsigned char buf[16] = {0};
unsigned char len = 0;


int main()
{
  
  serial.baud(9600);
  serial.printf("Serial begin!\r\n");
 
/*----- BLE Utility ---------------------------------------------*/
  // set advertised local name and service UUID
  blePeripheral.setLocalName("BLE Shield");
  
  blePeripheral.setAdvertisedServiceUuid(uartService.uuid());
  
  // add service and characteristic
  blePeripheral.addAttribute(uartService);
  blePeripheral.addAttribute(rxCharacteristic);
  blePeripheral.addAttribute(txCharacteristic);
 
  // begin initialization
  blePeripheral.begin();
/*---------------------------------------------------------------*/
  serial.printf("BLE UART Peripheral begin!\r\n");
  
  while(1)
  {
      BLECentral central = blePeripheral.central();
    
      if (central) 
      {
        // central connected to peripheral
        serial.printf("Connected to central\r\n");
        
        int count = 0;
        float leftval = 0;
        float rightval = 0;
        while (central.connected()) 
        {
          // central still connected to peripheral
          if (rxCharacteristic.written()) 
          {
            count = 0;
            unsigned char len = rxCharacteristic.valueLength();
            const unsigned char *val = rxCharacteristic.value();
            
            //1 = north, 2 = south, 3 = east, 4 = west
            leftval = sqrt(pow((float)val[0]/255,2) + pow((float)val[2]/255,2)) - sqrt(pow((float)val[1]/255,2) + pow((float)val[3]/255,2));
            rightval = sqrt(pow((float)val[0]/255,2) + pow((float)val[3]/255,2)) - sqrt(pow((float)val[1]/255,2) + pow((float)val[2]/255,2));
            
            if (leftval > 1) leftval = 1;
            if (leftval < -1) leftval = -1;
            if (rightval > 1) rightval = 1;
            if (rightval < -1) rightval = -1;
            
            left.speed(leftval);
            right.speed(rightval);
            
            serial.printf("%f,   %f\n", leftval, rightval);
          }
        }
        // central disconnected
        serial.printf("Disconnected from central\r\n");
      }
    }
}