File content as of revision 0:b6fd1c37944a:

//*******************************************
//* Robot motor control and drive functions *
//*******************************************

#include "HMC6352.h"

//Gyro
HMC6532 compass(p28, p27);

//H-bridge
PwmOut rightMotorPWM(p21);  //Channel A
PwmOut leftMotorPWM(p22);   //Channel B
DigitalOut leftMotor1(p23);
DigitalOut leftMotor2(p24);
DigitalOut rightMotor1(p25);
DigitalOut rightMotor2(p26);

//Non-feedback corrected 'dumb' driving
void setDriveStraight(float speed, bool reverse) {
    //Set speed
    rightMotorPWM = speed;
    leftMotorPWM = speed;
    
    //Set motor function
    leftMotor1 = (!reverse) ? 0 : 1;
    leftMotor2 = (!reverse) ? 1 : 0;
    rightMotor1 = (!reverse) ? 0 : 1;
    rightMotor2 = (!reverse) ? 1 : 0;
}

//Stop with braking
void stop() {
    rightMotorPWM = 0;
    leftMotorPWM = 0;
    leftMotor1 = 0;
    leftMotor2 = 0;
    rightMotor1 = 0;
    rightMotor2 = 0;
}

//Need compass module
void gyroDriveStraight(float speed, bool reverse);
void centerTurnLeft(int delta_degrees);
void centerTurnRight(int delta_degrees);
void driveTurnLeft(int delta_degrees);
void driveTurnRight(int delta_degrees);