File content as of revision 9:8f98b1c277a4:

#include "stm32f103c8t6.h"
#include "mbed.h"
//#include "USBSerial.h"
#include "common.h"
#include "gyro.h"
#include "motor.h"
#include "serva.h"
#include "echo.h"
#include "motion.h"
#include "wifi.h"
#include "realtime.h"
#include "system.h"
#include "sound.h"

int main() {
    system_init();
//    usb_serial.printf("I am a USB serial port\r\n");
    //stop();
    gyro_x=0, gyro_y=0, gyro_angle=0, gyro_v=0, gyro_s=0;
    play(21);
    /*go(1);
    stop();*/
    speed = 10;radius = 1e5;
    infinite_flag = 1;motor_busy = 1;stop_flag = 0;
    //go(5);
    //external_command = 0xff;

/*    MPU6050 gyro(PB_9,PB_8);
    pc.printf("%hu ::",gyro.getID());
    pc.printf("%hu ::",gyro.getID());
    pc.printf("%hu ::",gyro.getID());
    pc.printf("%hu ::",gyro.getID());

    I2C i2c(PB_9,PB_8);
    i2c.frequency(400000);
    int tmaddr = 0xD1;
    char tmdata = 117;
    pc.printf("%hhu, ",i2c.write(tmaddr, &tmdata,1));
    pc.printf("%hhu, ",i2c.write(tmaddr, &tmdata,1));
    pc.printf("%hhu: ",i2c.read(tmaddr,&tmdata,1));
    pc.printf("%hhu; \n",tmdata);
*/    
    while(1){
        //pc.printf("mhgc");
        while(realtime_flag == 0){}
        
        if(external_command != 0) command_process();
        //wait_ms(40); //blocking
        gy_old = gy;
        gyro_process(); //doesn't work in interrupt
        //pc.printf("ax:%.2f",ax);
       //if (infinite_flag == 1) wifi.printf("%.4f %.2f %.2f; ",ax,gz,motor_speed[1]);
       //wifi.printf("%.4f %.2f %.2f ",ax,ax,ax);
        realtime_flag = 0;
        }
    //while(1){proc_counter++;}
//    dance(10,5);
}
 //check_battery;