File content as of revision 0:1165b4e29af3:

#include "mbed.h"
#include "AndroidAccessory.h"


//device setup

PwmOut led1(LED1);
PwmOut led2(LED2);
PwmOut led3(LED3);
PwmOut led4(LED4);



DigitalOut ind(p21);



#define OUTL 100
#define INBL 100




class AdkTerm :public AndroidAccessory {
public:
    AdkTerm():AndroidAccessory(INBL,OUTL,
                                       "ARM",
                                       "mbed",
                                       "mbed Terminal",
                                       "0.1",
                                       "http://www.mbed.org",
                                       "0000000012345678"),pc(USBTX,USBRX),Right(p19),Left(p20) {};
    virtual int callbackRead(u8 *buff, int len);
    virtual void setupDevice();
    virtual void resetDevice();
    virtual int callbackWrite();

private:
    void serialIRQ();
    void onTick();
    void AttachTick();
    char buffer[OUTL];
    int bcount;
    Serial pc;
    AnalogIn Right;
    AnalogIn Left;
    Ticker tick;
    float right,left,rl,ll;
    int tl,tr;
    Timeout n;
    bool settick;
};



void AdkTerm::setupDevice() {
    pc.baud(112500);
    pc.printf("Welcome to adkTerm\n\n\n\n\n\n\r");
    settick = false;
    pc.attach(this, &AdkTerm::serialIRQ, Serial::RxIrq);
    for (int i = 0; i<OUTL; i++) {
        buffer[i] = 0;
    }
    bcount = 0;
    //n.attach(this,&AdkTerm::AttachTick,5);
    //tick.attach(this,&AdkTerm::onTick,0.1);


}

void AdkTerm::AttachTick() {
    if(!settick)tick.attach(this,&AdkTerm::onTick,0.04);
    settick = true;
}

void AdkTerm::onTick() {
    right = 1-Right;
    left = 1-Left;
    bool update = false;
    int templ, tempr;



    templ = int(left * 10000);
    tempr = int(right * 10000);



    if (abs(templ-tl)>170) {
        update = true;
    }
    if (abs(tempr-tr)>170) {
        update = true;
    }
    if (update) {
        u8* wbuf = _writebuff;
        
        wbuf[0] = 'P';
        wbuf[1] =  templ&0xFF;
        wbuf[2] = (templ>>8) & 0xFF;
        wbuf[3] =  tempr&0xFF;
        wbuf[4] = (tempr>>8) & 0xFF;
        wbuf[5] = 0;
        
        this->write(wbuf,5);

        
    }
}

void AdkTerm::resetDevice() {
    pc.printf("adkTerm reset\n\r");
    for (int i = 0; i<OUTL; i++) {
        buffer[i] = 0;
    }
    bcount = 0;
}

int AdkTerm::callbackRead(u8 *buf, int len) {
    pc.printf("%i  %s\n\r\n\n\n",len,buf);
    for (int i = 0; i<INBL; i++) {
        buf[i] = 0;
    }
   
    AttachTick();

    return 0;
}

int AdkTerm::callbackWrite() {

    ind = false;
    return 0;
}


void AdkTerm::serialIRQ() {
    buffer[bcount] = pc.getc();

    pc.putc(buffer[bcount]);

    if (buffer[bcount] == '\n' || buffer[bcount] == '\r') {
        u8* wbuf = _writebuff;
        for (int i = 0; i<OUTL; i++) {
            wbuf[i] = buffer[i];
            buffer[i] = 0;
        }
        pc.printf("Sending: %s\n\r",wbuf);
        ind = true;
        this->write(wbuf,bcount);
        bcount = 0;
    } else {
        if (buffer[bcount] != 0x08 && buffer[bcount] != 0x7F ) {
            bcount++;
            if (bcount == OUTL) {
                bcount = 0;
            }
        } else {
            bcount--;
        }
    }

}



AdkTerm AdkTerm;



int main() {



    AdkTerm.setupDevice();
    printf("Android Development Kit: start\r\n");
    USBInit();
    while (1) {
        USBLoop();
    }

}