File content as of revision 0:3ed56271dd2d:

#include "mbed.h"
#include "iRobot.h"
 
// Definitions of iRobot Create OpenInterface Command Numbers
// See the Create OpenInterface manual for a complete list
 
 iRobot::iRobot(PinName tx, PinName rx) : device(tx, rx){
    speed_left = 200;
    speed_right = 200;
 }
 
// Start  - send start and safe mode, start streaming sensor data
void iRobot::start() {
   // device.printf("%c%c", Start, SafeMode);
    device.putc(Start);
    device.putc(SafeMode);
    wait(.5);
  //  device.printf("%c%c%c", SensorStream, char(1), BumpsandDrops);
    device.putc(SensorStream);
    device.putc(1);
    device.putc(BumpsandDrops);
    wait(.5);
}
// Stop  - turn off drive motors
void iRobot::stop() {
    device.printf("%c%c%c%c%c", DriveDirect, char(0),  char(0),  char(0),  char(0));
}
// Forward  - turn on drive motors
void iRobot::forward() {
    device.printf("%c%c%c%c%c", DriveDirect, char((speed_right>>8)&0xFF),  char(speed_right&0xFF),  
    char((speed_left>>8)&0xFF),  char(speed_left&0xFF));
 
}
// Reverse - reverse drive motors
void iRobot::reverse() {
    device.printf("%c%c%c%c%c", DriveDirect, char(((-speed_right)>>8)&0xFF),  char((-speed_right)&0xFF),  
    char(((-speed_left)>>8)&0xFF),  char((-speed_left)&0xFF));
 
}
// Left - drive motors set to rotate to left
void iRobot::left() {
    device.printf("%c%c%c%c%c", DriveDirect, char((speed_right>>8)&0xFF),  char(speed_right&0xFF),  
    char(((-speed_left)>>8)&0xFF),  char((-speed_left)&0xFF));
}
// Right - drive motors set to rotate to right
void iRobot::right() {
    device.printf("%c%c%c%c%c", DriveDirect, char(((-speed_right)>>8)&0xFF),  char((-speed_right)&0xFF),  
    char((speed_left>>8)&0xFF),  char(speed_left&0xFF));
 
}
// Charger - search and return to charger using IR beacons (if found)
void iRobot::charger() {
    device.printf("%c%c", Demo, char(1));
}
// Play Song  - define and play a song
void iRobot::playsong() { // Send out notes & duration to define song and then play song
 
    device.printf("%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c", 
                  Song, char(0), char(16), char(91), char(24), char(89), char(12), char(87), char(36), char(87),
                  char(24), char(89), char(12), char(91), char(24), char(91), char(12), char(91), char(12), char(89),
                  char(12),char(87), char(12), char(89), char(12), char(91), char(12), char(89), char(12), char(87),
                  char(24), char(86), char(12), char(87), char(48));
 
    wait(.2);
    device.printf("%c%c", PlaySong, char(0));
}