File content as of revision 0:57045933b470:

#include "mbed.h"
#include "Servo.h"
#include "nRF24L01P.h"
#include "motordriver.h"
Serial pc(USBTX, USBRX); // tx, rx
 
nRF24L01P NRFR(p5, p6, p7, p8, p9, p10);    // mosi, miso, sck, csn, ce, irq
 
//PwmOut led1(LED1); Beware, This will push PWM limits
//PwmOut led2(LED2);
//PwmOut led3(LED3);
//PwmOut led4(LED4);

Motor  left(p21, p19, p20, 1); // pwm, fwd, rev, has brake feature
Motor right(p22, p17, p18, 1);

Servo base(p23);
Servo shoulder(p24);
Servo elbow(p25);
Servo claw(p26);

int main() {
 
// The nRF24L01+ supports transfers from 1 to 32 bytes, but Sparkfun's
//  "Nordic Serial Interface Board" (http://www.sparkfun.com/products/9019)
//  only handles 4 byte transfers in the ATMega code.
#define TRANSFER_SIZE   17
 
    char rxData[TRANSFER_SIZE];
    int rxDataCnt = 0;
 
    NRFR.powerUp();
 
    // Display the (default) setup of the nRF24L01+ chip
    pc.printf( "nRF24L01+ Frequency    : %d MHz\r\n",  NRFR.getRfFrequency() );
    pc.printf( "nRF24L01+ Output power : %d dBm\r\n",  NRFR.getRfOutputPower() );
    pc.printf( "nRF24L01+ Data Rate    : %d kbps\r\n", NRFR.getAirDataRate() );
    pc.printf( "nRF24L01+ TX Address   : 0x%010llX\r\n", NRFR.getTxAddress() );
    pc.printf( "nRF24L01+ RX Address   : 0x%010llX\r\n", NRFR.getRxAddress() );
 
    pc.printf( "Recieved Data:\r\n", TRANSFER_SIZE );
 
    NRFR.setTransferSize( TRANSFER_SIZE );
 
    NRFR.setReceiveMode();
    NRFR.enable();
    
    int LSL,RSL,VER,HOR;
    float FLSL,FRSL,FVER,FHOR;
    
    base.calibrate(0.0006, 45.0);
    shoulder.calibrate(0.0006, 45.0);
    elbow.calibrate(0.0010, 45.0);
    claw.calibrate(0.0004, 45.0);
    float basepos = 0.5, armpos = 0.1;
    while (1) {
 
 
        // If we've received anything in the nRF24L01+...
        if ( NRFR.readable() ) {
            // ...read the data into the receive buffer
            rxDataCnt = NRFR.read( NRF24L01P_PIPE_P0, rxData, sizeof( rxData ) );
        if(rxData[16] == 'a')   //error checking
        {
        LSL =   (rxData[3] << 24) + (rxData[2] << 16) + (rxData[1] << 8) + rxData[0];
        FLSL = float(LSL) / 1000;
        //led1 = FLSL;
        
        VER =   (rxData[7] << 24) + (rxData[6] << 16) + (rxData[5] << 8) + rxData[4];
        FVER = float(VER) / 1000;
        //led2 = FVER;
        
        HOR =   (rxData[11] << 24) + (rxData[10] << 16) + (rxData[9] << 8) + rxData[8];
        FHOR = float(HOR) / 1000;
        //led3 = FHOR;
        
        RSL =   (rxData[15] << 24) + (rxData[14] << 16) + (rxData[13] << 8) + rxData[12];
        FRSL = float(RSL) / 1000;
        //led4 = FRSL;
             
        //Output speed
        left.speed(-(2*FLSL-1));
        right.speed(-(2*FRSL-1));
        
        //Velocity control
        if(basepos > 0.9)
            basepos = 0.9;
        else if(basepos < 0.1)
            basepos = 0.1;
        else{
            if((FHOR > 0.6)||(FHOR <0.4))
                basepos = basepos + (FHOR -0.5)/1000;}
        
        if(armpos > 0.9)
            armpos = 0.9;
        else if(armpos < 0.1)
            armpos = 0.1;
        else{
            if((FVER > 0.6)||(FVER <0.4))
                armpos = armpos + (FVER -0.5)/1000;}
        
        //output servo
        base = basepos;
        shoulder = armpos;
        elbow = armpos;
        claw = armpos;
        
        }
        }
    }
}