File content as of revision 7:48bf77d076fc:

/*
Simple Routine for Nucleo Board for ROCO104 Buggy Motor Control and Microswitches
Heavy edit from previous ROCO103PP code
Motor Class can now be instansiated with all four pins needed to control the H Bridge
with a member functions as follows

Motor::Speed(float A, Float B) range -0.1 to +1.0 to give full reverse to full forward for A/B motors
Motor::Stop()       STOP
Motor::Fwd(float)   Forward but floating point number (range 0.0 to 1.0)
Motor::Rev(float)   Reverse but floating point number (range 0.0 to 1.0)

Plymouth University
M.Simpson 31st October 2016
Edited 03/02/2017
Edited 06/12/2018
*/
#include "mbed.h"
#include "motor.h"
#include "tunes.h"
#include "clickers.h"
#include "ultrasonic.h"
#define TIME_PERIOD 2             //Constant compiler Values here 2 equates to 2ms or 500Hz base Frequency
#define DUTY 0.9                  //DUTY of 1.0=100%, 0.4=40% etc.,

DigitalIn microswitch1(D4);       //Instance of the DigitalIn class called 'microswitch1'
DigitalIn microswitch2(D3);       //Instance of the DigitalIn class called 'microswitch2'
Motor Wheel(D13,D11,D9,D10);      //Instance of the Motor Class called 'Wheel' see motor.h and motor.cpp 
DigitalIn myButton(USER_BUTTON);  //USER_BUTTON is the Blue Button on the NUCLEO Board
DigitalOut led(LED3);             //LED1 is the Green LED on the NUCLEO board
                                  //N.B. The RED LED is the POWER Indicator
                                  //and the Multicoloured LED indicates status of the ST-LINK Programming cycle

Serial pc(USBTX,USBRX);           //Instance of the Serial class to enable much faster BAUD rates then standard 9600 i.e. 115200
                                  //This is Pseudo RS232 over USB the NUCLEO will appear as a COMx Port see device Manager on PC used
                                  //Use PuTTY to monitor check COMx and BAUD rate (115200)
int mm;
void dist(int distance)
{
    //put code here to happen when the distance is changed
    printf("%dmm\r\n", distance);
    mm = distance;
}
ultrasonic mu(PE_9, PF_15, .1, 1, &dist); //Trigger is PE_9, echo is PF_15. have updates every .1 seconds and a timeout after 1 second, and call dist when the distance changes

int main ()
{
    pc.baud(9600);               //BAUD Rate to 9600
    pc.printf("ROCO104 Demonstration Robot Buggy Plymouth University 2018/19\n\r");
    mu.startUpdates();//start mesuring the distance
    Wheel.Period_in_ms(TIME_PERIOD);//Set frequency of the PWMs
    Wheel.Stop();
    
    close_encounter(1);     //tune to play Announce start!
    //twinkle(1);           //see tunes.h for alternatives or make your own!
    //jingle_bells(1);
    
    while(myButton==0)
    {                       //Wait here for USER Button (Blue) on Nucleo Board (goes to zero when pressed)
        led=0;              //and flash green LED whilst waiting
        wait(0.1);
        led=1; 
        wait(0.1);
        //Test Microswitches with two different tones see tunes.cpp tunes.h or flash (led1 and led2) onboard LEDs
    }
    Wheel.Period_in_ms(2);//Set frequency of the PWMs 500Hz
    
    while(true)                             //Repeat the following forever NB always true!
    {
        Wheel.Speed(-0.8,-0.8);//Backwards 80%
        mu.checkDistance();     //call checkDistance() as much as possible, as this is where
        RevStop();
    } // go back to start of while loop
}  //end of int main()