File content as of revision 15:a0a88aeb4fe1:

#include "mbed.h"
#include "CMPS03.h"
#include "CNY70.h"
#include "GP2A.h"
#include "VMA306.h"
#include "Pixy.h"
#include "PID.h"

#define PI  3.1415926535898

Serial      pc          (PA_2, PA_3, 115200);
PID         motor       (TIM4, TIM3, PA_9, PA_8, PC_9, PC_8, PC_6, PC_5);

CMPS03      boussole    (PC_4);

CNY70       ligneD      (PC_3);
CNY70       ligneG      (PC_2);
CNY70       exterior    (PA_7);

VMA306      ultraSon    (PB_15, PA_6, PB_14, PC_7, PB_13, PB_2);

PIXY        pixy        (PA_0, PA_1, 115200);

InterruptIn button          (PC_13);

DigitalOut  led1        (PA_5);
DigitalOut  led2        (PD_2);
DigitalOut  unused1     (PB_10);
DigitalOut  unused2     (PA_15);
DigitalOut  unused3     (PA_12);

DigitalIn   unused4     (PA_4, PullUp);
DigitalIn   unused5     (PB_0, PullUp);
DigitalIn   unused6     (PC_1, PullUp);
DigitalIn   unused7     (PC_0, PullUp);

Timer       temps;
typedef enum {IDLE,FORWARD,REVERSE} T_state;

main ()
{
    double x,y,theta, VL=0, VR=0;
    T_state  state= IDLE;
    motor.resetPosition();

    while (1) {
        pc.printf("\r x is %lf ",x);
        motor.getPosition(&x,&y,&theta);
        motor.setSpeed (VL,VR);
        switch (state) {
            case IDLE:
                if (button==0)state= FORWARD;
                VL=0;
                VR=0;
                break;
            case FORWARD:
                if (x<-300) state= REVERSE;
                VL=-100;
                VR=-100;
                break;
            case REVERSE:
                if (x>0) state= IDLE;
                VL=100;
                VR=100;
                break;
            


        }// switch
    }// while 1


}// main