File content as of revision 4:904b737ef08a:

#include "stm32f103c8t6.h"
#include "mbed.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"

int main() {
    system_init();
    stop(); wait(2);
    gyro_x=0, gyro_y=0, gyro_angle=0, gyro_v=0, gyro_s=0;
    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){
        while(realtime_flag == 0){}
        if(external_command != 0) command_process();
        wait_ms(40); //blocking
        gyro_process(); //doesn't work in interrupt
        }
    //while(1){proc_counter++;}
//    dance(10,5);
}
 //check_battery;