File content as of revision 0:964eb6a2ef00:

#include "robot.h"
#include "bot08_cal.h"

/**Note: Initialize ALL UNUSED ANALOG IN pins as digital out to reduce noise on analog reads*//////

DigitalOut      led(LED_PIN);

HC05            bt(TX_BT,RX_BT,EN_BT);

AnalogIn irL(IR_L);
AnalogIn irC(IR_C);
AnalogIn irR(IR_R);
DigitalOut irBack(IR_B);
AnalogIn voltage_sensor(VOLTAGESENSOR_PIN);

ACS712          current_sensor;
ADNS5090        opt_flow_L(MOSI_MOUSE,MISO_MOUSE,SCLK_MOUSE,NCS_MOUSE_L,L_MOUSE_PX_PER_MM);
ADNS5090        opt_flow_R(MOSI_MOUSE,MISO_MOUSE,SCLK_MOUSE,NCS_MOUSE_R,R_MOUSE_PX_PER_MM);
Reckon          reckon(opt_flow_L, opt_flow_R, MOUSE_DISTANCE);

MPU6050 mpu;
MPU6051 mpu2;
DigitalOut imuSwitch(IMU_POWER_PIN);
DigitalOut imu2Switch(IMU2_POWER_PIN);
IMU_DATA imu_data;
IMU_DATA imu2_data;

TB6612 MotorA(MOT_PWMA_PIN, MOT_AIN1_PIN, MOT_AIN2_PIN);
TB6612 MotorB(MOT_PWMB_PIN, MOT_BIN1_PIN, MOT_BIN2_PIN);
Motors motors( &MotorA, &MotorB, MOT_STBY_PIN);

nRF24L01P rf(PTD2, PTD3, PTD1, PTD0, PTC17, PTD4);    // mosi, miso, sck, csn, ce, irq //CSN has been changed from PTD5 to PTC17


bool send_flag; //indicates when robot should send all data
bool obstacle_flag; //indicates an obstacle - robot should stop
bool fwd_flag;
bool calibrate_flag;
bool calibrate_optFlow_flag;

unsigned long long long_time = 0;
Timer t;

float getTime()
{   return (float)(long_time + t.read_us())/1000000 ;   }

void initRobot()
{   
    LED_OFF
    
    MotorA.scale = R_MOTOR_SCALE;
    MotorB.scale = L_MOTOR_SCALE;    
    
    current_sensor.calibrate();
    
    LED_ON
    
    bt.start(); //this turns on the bluetooth switch
    rf.powerUp();   //turn on RF comm
    send_flag = 0;
    obstacle_flag = 0;
    
    wait_ms(60);
    opt_flow_L.setDPI();
    opt_flow_R.setDPI();
    bt.baud(BT_BAUD_RATE);
    motors.flip();
    
    
    LED_OFF //good to go
    t.start();      //start timer
}