File content as of revision 0:6bd3fec95c53:

#include "mbed.h"
#include "Motor.h"
#include "string"

//AnalogIn light(p18);
 
RawSerial  pc(USBTX, USBRX);
RawSerial  dev(p9,p10);
//DigitalOut led4(LED4);
 
Motor m1(p21, p5, p6);
Motor m2(p22, p7, p8);

DigitalIn i2(p12);
DigitalIn i3(p13);
DigitalIn i4(p14);
DigitalIn i5(p15);
DigitalIn i6(p16);
DigitalIn i7(p17);
DigitalIn i8(p18);
DigitalIn i9(p19);
DigitalIn i10(p20);
DigitalIn i11(p29);
DigitalIn i12(p28);
DigitalIn i13(p27);

DigitalOut led1(LED1);
DigitalOut led2(LED2);

void dev_recv()
{
    led1 = !led1;
    while(dev.readable()) {
        if(dev.getc() == 'm') {
            char xbuf[6];
            char ybuf[6];
            
            int ind = 0;
            char cur = dev.getc();
            while(cur != ',') {
                xbuf[ind++] = cur;
                cur = dev.getc();
            }
            xbuf[ind] = NULL;
            
            ind = 0;
            cur = dev.getc();
            while(cur != '|') {
                ybuf[ind++] = cur;
                cur = dev.getc();
            }
            ybuf[ind] = NULL;
            
            float x, y;
            x = (float)atof(xbuf);
            y = (float)atof(ybuf);
            
            pc.printf("%f, %f\n",x , y);
            
            if (x >= 0.1) {
                m1.speed( (y + x) );
                m2.speed(y);
    //            pc.printf("GREATER THAN %f, %f\n",(y + x) , y);
            } else if (x <= -0.1) {
                m1.speed(y);
                m2.speed( (y - x));
    //            pc.printf("LESS THAN %f, %f\n",y, (y - x));
            } else {
                m1.speed(y);
                m2.speed(y);
    //            pc.printf("%.2f, %.2f\n",x, y);
            }
        }
    }
}

int main() {
    dev.attach(&dev_recv, Serial::RxIrq);
    while(1) {
//        pc.printf("%f\n", i5.read());
        if(i2 || i3 || i4 || i5 || i6 || i7 || i8 || i9 || i10 || i11 || i12 || i13) {
            dev.putc('1');
        }
        led1 = i2 || i3 || i4 || i5 || i6 || i7 || i8 || i9 || i10 || i11 || i12 || i13;      
        wait(0.5);
    }
}