File content as of revision 1:d8c15d5b8eac:

#include "main.h"

// API objects
m3pi robot;

// LEDs on the Mbed board
BusOut leds(LED4,LED3,LED2,LED1);

// Buttons on the 3pi shield
DigitalIn button_A(p18);
DigitalIn button_B(p17);
DigitalIn button_X(p21);
DigitalIn button_Y(p22);
DigitalIn button_enter(p24);
DigitalIn button_back(p23);

// Blue potentiometers on the 3pi shield
AnalogIn pot_P(p15);
AnalogIn pot_I(p16);
AnalogIn pot_D(p19);
AnalogIn pot_S(p20);


// This bit is the main function and is the code that is run when the buggies are powered up
int main()
{
    init();
    welcome();
    calibrate();

    float dt = 1.0/50.0;
    
    wait_for_enter();
    
    // keep looping until back is pressed
    while(button_back.read() == 1) {
        repeat();
        wait(dt);
    }

    robot.stop();
    robot.lcd_clear();
    leds = 0b0000;
}

// Functions
void init()
{
    robot.init();

    button_A.mode(PullUp);
    button_B.mode(PullUp);
    button_X.mode(PullUp);
    button_Y.mode(PullUp);
    button_enter.mode(PullUp);
    button_back.mode(PullUp);

    leds = 0b0000;
}

void welcome()
{
    robot.lcd_clear();
    const char g_song2[]= "L16 cdegreg4";
    robot.play_music(g_song2,sizeof(g_song2));
    robot.display_battery_voltage(0,0);
    robot.display_signature(0,1);
    wait(3.0);

}

// this makes the buggy rotate left and right
// should be placed over a black line so the difference
// between white and black can be determined
void calibrate()
{
    leds = 0b1111;
    robot.reset_calibration();

    wait_for_enter();


    wait(2.0);  // leave a bit of delay so hands can be moved out of the way
    robot.auto_calibrate();  // run calibration routine
    leds = 0b0000;
}

void wait_for_enter()
{
    // display message on LCD
    robot.lcd_clear();
    robot.lcd_goto_xy(0,0);
    robot.lcd_print("Place on",8);
    robot.lcd_goto_xy(0,1);
    robot.lcd_print("  line  ",8);
    wait(1.0);
    // display message on LCD
    robot.lcd_clear();
    robot.lcd_goto_xy(0,0);
    robot.lcd_print(" Press  ",8);
    robot.lcd_goto_xy(0,1);
    robot.lcd_print(" ENTER  ",8);

    while (button_enter.read() == 1) {  // wait for button press

    }

    robot.lcd_clear();

}