File content as of revision 2:41af46339652:

#include "mbed.h"
#include "m3pi.h"

m3pi m3pi;

// Minimum and maximum motor speeds
#define MAX 1.0
#define MIN 0

//Our variables
#define OPTIMAL_SPEED 0.8

// PID terms
#define P_TERM 1.0
#define D_TERM 8.0
#define I_TERM 0.01  //skal være nul eller tæt på

//Print to LCD (character, line) numbers are zero indexed
void print_battery() {
    
    //measure battery voltage
    float f = m3pi.battery();
    char text[8];
    m3pi.cls();
    m3pi.locate(0,0);
    
    //convert to a string
    sprintf(text, "%4.2f", f);
    m3pi.printf(text);
}

void toggleLED(DigitalOut &led) {
    if (led == 1) {
        led = 0;
    } else {
        led = 1;
    }
}


int main(void) {
    
    //user push button p21
    DigitalIn button(p21);
    button.mode(PullUp);

    //set the LEDs as objects    
    //on the m3pi
    DigitalOut redled8(p13);
    DigitalOut redled7(p14);
    DigitalOut redled6(p15);
    DigitalOut redled5(p16);
    DigitalOut redled4(p17);
    DigitalOut redled3(p18);
    DigitalOut redled2(p19);
    DigitalOut redled1(p20);
    
    //on the mbed
    DigitalOut myled1 (LED1);
    DigitalOut myled2 (LED2);
    DigitalOut myled3 (LED3);
    DigitalOut myled4 (LED4);
    
    
    // Set all LEDs to on
    redled1 = 1;
    redled2 = 1;
    redled3 = 1;
    redled4 = 1;
    redled5 = 1;
    redled6 = 1;
    redled7 = 1;
    redled8 = 1;
    myled1 = 1;
    myled2 = 1;
    myled3 = 1;
    myled4 = 1;
    
    
    //Initialize the car
    m3pi.sensor_auto_calibrate();   
    
    // Start the loop
    while (1) {
          
   // set full speed 
    m3pi.left_motor(1.0);
    m3pi.right_motor(1.0);
    
    //print voltage
    print_battery();
    }

}