File content as of revision 0:c3a329a5b05d:

// NOTE look at the below h files to define whether that control mode is enabled

#include "mbed.h"
//#include "AcousticControl/AcousticController.h" // also need to define acousticControl in ToneDetector.h
#include "SerialControl/SerialController.h"
//#include "ROSControl/ROSController.h"

Serial pc(USBTX, USBRX);

int main()
{
	/* ACOUSTIC CONTROL */
	//#ifdef acousticControl
//	pc.baud(115200);
//	// Initialize the acoustic controller
//	acousticController.init(&pc); // if no serial object is provided, it will create one on the USB pins
//	// Start the controller
//	// NOTE this is a blocking method, and if infiniteLoopAcoustic is defined it will run forever (or until low battery callback or button board reset command)
//	// It can be stopped by the acousticController.stop() method, but you have to
//	//  control threading here to actually be able to call that
//	//  The acoustic controller hasn't been tested with multi-threading though
//	acousticController.run();
//	#endif

	/* SERIAL CONTROL */
	#ifdef serialControl

	pc.baud(115200);
	pc.printf("Beginning serial control. \n");
	// Initialize the serial controller
	serialController.init(NULL, &pc);
	// Start the controller
	// NOTE this is a blocking method, and if infiniteLoopSerial is defined it will run forever (or until low battery callback or button board reset command)
	// It can be stopped by the serialController.stop() method, but you have to
	//  control threading here to actually be able to call that
	serialController.run();
	#endif

	/* ROS CONTROL */
	//#ifdef rosControl
//	pc.baud(115200);
//	// Initialize the ROS controller
//	rosController.init(NULL, &pc);
//	// Start the controller
//	// NOTE this is a blocking method, and if infiniteLoopSerial is defined it will run forever (or until low battery callback or button board reset command)
//	// It can be stopped by the rosController.stop() method, but you have to
//	//  control threading here to actually be able to call that
//	rosController.run();
//	#endif
}