File content as of revision 0:11ba3658cd5e:

#include "mbed.h"
#include "MD25.h"
#include "mbed.h"
#include "TextLCD.h"
//100kHz clock, addr B0, reg 0=speedl, 1=speedr (0 (Full Reverse) 128 (Stop) 255 (Full Forward). 15=mode (set to 0 default)
 
MD25 i2c(PB_9, PB_8); //Dont forget the 2.5 k pullup on both wires when USB is not connected 
TextLCD lcd(D2, D3, D4, D5, D6, D7,TextLCD::LCD20x4); // rs, e, d4-d7
//*** DEBUG CONSOLE PARAMETERS ***//

DigitalIn bouton (USER_BUTTON);
DigitalIn cap_arret(PA_9);


int main() {
int flag=0;
bouton.mode (PullUp);

Serial debug(USBTX,USBRX);
debug.format(8,Serial::None,1); 
debug.baud(115200); 
i2c.setMode(0); // MODE 0, 0=marche arriere 128=stop 255=marche arriere vmax
i2c.setCommand(32); // 0x20 reset encoders
i2c.setCommand(50); // 0X32 Disable time out
//i2c.setCommand(48); // 0X32 Disable speed regulation
lcd.printf("Majord'home ON!\n");
 //   while(PB_1==1){
i2c.setSpeedRegisters(0,0);

//i2c.setCommand(32); // 0x20 reset encoders

//lcd.printf("Majord'home OFF!\n");


//}
  while(flag==0) {
      cap_arret.read();
      if(cap_arret==0){
          i2c.stopMotors();
          lcd.printf("Arret ON");
          lcd.locate(0,0);
          }
          else if(bouton==0){
              i2c.stopMotors();
              lcd.printf("Arret ON");
              lcd.locate(0,0);
              flag=1;
              }
              else{
                  i2c.setSpeedRegisters(60,60);
                  lcd.printf("Arret OFF");
                  lcd.locate(0,0);
                  }

      
      } 
}