File content as of revision 1:3bae10d2507c:

#include "mbed.h"
#include "rtos.h"
#include "Traxster.h"
#include "USBHostXpad.h"
#include "utils.h"
#include "Audio.h"

Serial pc(USBTX, USBRX);
Serial robotCom(p13, p14);
AnalogIn ir(p20);
Speaker speaker(p18);  // the pin must be the AnalogOut pin - p18


Audio audio(speaker);
USBHostXpad controller;
Xbox360ControllerState controlState;
Traxster tank(robotCom);

//comment added

void onControlInput(int buttons, int stick_lx, int stick_ly, int stick_rx, int stick_ry, int trigger_l, int trigger_r){
    pc.printf("buttons: %04x   Lstick X,Y: %-5d, %-5d    Rstick X,Y: %-5d, %-5d   LTrig: %02x (%d)    RTrig: %02x (%d)\n", buttons, stick_lx, stick_ly, stick_rx, stick_ry, trigger_l,trigger_l, trigger_r,trigger_r);
    controlState = Xbox360ControllerState(buttons, stick_lx, stick_ly, stick_rx, stick_ry, trigger_l, trigger_r);
};

void thread_audio_run(void const* arg){
    audio.run();
}

int main() {
    pc.baud(19200);
    
    controller.attachEvent(&onControlInput);
    
    Thread audio_thread(thread_audio_run);
    
    audio.playMario();
    
    while(1){
        //acts as a failsafe
        while(controller.connected()) {
            if(ir > 0.5){
                controller.rumble(255,255);
            }
            if( controller.read(USBHostXpad::XPAD_PAD_Y) ) {
                controller.led( USBHostXpad::LED_ROTATE );   
            } else {
                controller.led( USBHostXpad::LED_OFF ); 
            }
            if(controlState.triggerRight > 0){
                controller.rumble(255,255);
            }
           
            if( controller.read(USBHostXpad::XPAD_PAD_X) ) {
                tank.SetMotors(1.0,1.0);
            } else {
                tank.SetMotors(0.0,0.0);    //stop, wait for controller to reconnect for a second.   
            }
        }
        tank.SetMotors(0.0,0.0);    //stop, wait for controller to reconnect for a second.
        Thread::wait(500);
        controller.connect();
    }
}