File content as of revision 0:21c11d775cc4:

#include "mbed.h"
 
Serial device(p9, p10);  // tx, rx
AnalogIn sensor(p20);
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);
 
// Definitions of iRobot Create OpenInterface Command Numbers
// See the Create OpenInterface manual for a complete list
 
 
//                 Create Command              // Arguments
const char         Start = 128;
const char         SafeMode = 131;
const char         FullMode = 132;
const char         Drive = 137;                // 4:   [Vel. Hi] [Vel Low] [Rad. Hi] [Rad. Low]
const char         DriveDirect = 145;          // 4:   [Right Hi] [Right Low] [Left Hi] [Left Low]
const char         Demo = 136;                 // 2:    Run Demo x
const char         Sensors = 142;              // 1:    Sensor Packet ID
const char         CoverandDock = 143;         // 1:    Return to Charger
const char         SensorStream = 148;               // x+1: [# of packets requested] IDs of requested packets to stream
const char         QueryList = 149;            // x+1: [# of packets requested] IDs of requested packets to stream
const char         StreamPause = 150;          // 1:    0 = stop stream, 1 = start stream
const char         PlaySong = 141;
const char         Song = 140;
                /* iRobot Create Sensor IDs */
const char         BumpsandDrops = 7;
const char         Distance = 19;
const char         Angle = 20;
 
int speed_left =  200;
int speed_right = 200;
void start();
void forward();
void reverse();
void left();
void right();
void stop();
void playsong();
void charger();
void testDistance();
 
// Demo to move around using basic commands
int main() {
// wait for Create to power up to accept serial commands
    wait(5);
// set baud rate for Create factory default
    device.baud(57600);
// Start command mode and select sensor data to send back
    start();
    wait(.5);
    
    forward();
    wait(.5);
    stop();
    
    testDistance();
    wait(10);
        playsong();

// Move around with motor commands
    //forward();
//    wait(.5);
//    stop();
//    wait(.1);
//    reverse();
//    wait(.5);
//    left();
//    wait(1);
//    stop();
//    wait(.1);
//    right();
//    wait(1);
//    stop();
//    wait(.5);
// Play a song
//    playsong();
//    wait(10);
// Search for battery charger IR beacon
    charger();
}
 
 
// Start  - send start and safe mode, start streaming sensor data
void start() {
   // device.printf("%c%c", Start, SafeMode);
    device.putc(Start);
    device.putc(SafeMode);
    wait(.5);
  //  device.printf("%c%c%c", SensorStream, char(1), BumpsandDrops);
    device.putc(SensorStream);
    device.putc(1);
    device.putc(BumpsandDrops);
    wait(.5);
}
// Stop  - turn off drive motors
void stop() {
    device.printf("%c%c%c%c%c", DriveDirect, char(0),  char(0),  char(0),  char(0));
}
// Forward  - turn on drive motors
void forward() {
    device.printf("%c%c%c%c%c", DriveDirect, char((speed_right>>8)&0xFF),  char(speed_right&0xFF),  
    char((speed_left>>8)&0xFF),  char(speed_left&0xFF));
 
}
// Reverse - reverse drive motors
void reverse() {
    device.printf("%c%c%c%c%c", DriveDirect, char(((-speed_right)>>8)&0xFF),  char((-speed_right)&0xFF),  
    char(((-speed_left)>>8)&0xFF),  char((-speed_left)&0xFF));
 
}
// Left - drive motors set to rotate to left
void left() {
    device.printf("%c%c%c%c%c", DriveDirect, char((speed_right>>8)&0xFF),  char(speed_right&0xFF),  
    char(((-speed_left)>>8)&0xFF),  char((-speed_left)&0xFF));
}
// Right - drive motors set to rotate to right
void right() {
    device.printf("%c%c%c%c%c", DriveDirect, char(((-speed_right)>>8)&0xFF),  char((-speed_right)&0xFF),  
    char((speed_left>>8)&0xFF),  char(speed_left&0xFF));
 
}
// Charger - search and return to charger using IR beacons (if found)
void charger() {
    device.printf("%c%c", Demo, char(1));
}
// Play Song  - define and play a song
void playsong() { // Send out notes & duration to define song and then play song
 
    device.printf("%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c", 
                  Song, char(0), char(16), char(91), char(24), char(89), char(12), char(87), char(36), char(87),
                  char(24), char(89), char(12), char(91), char(24), char(91), char(12), char(91), char(12), char(89),
                  char(12),char(87), char(12), char(89), char(12), char(91), char(12), char(89), char(12), char(87),
                  char(24), char(86), char(12), char(87), char(48));
 
    wait(.2);
    device.printf("%c%c", PlaySong, char(0));
}

void testDistance() {
    int timer = 0;
    while(timer < 100000000) {
        if(sensor > 0.75) {
            led1 = 1;
            led2 = 1;
            led3 = 1;
            led4 = 1;
            forward();
        } else if(sensor > 0.50){
            led1 = 1;
            led2 = 1;
            led3 = 1;
            led4 = 0;
            left();
            wait(1);
            forward();
            wait(1);
            stop();
        } else if(sensor > 0.25){
            led1 = 1;
            led2 = 1;
            led3 = 0;
            led4 = 0;
            right();
            wait(1);
            forward();
            wait(1);
            stop();
        } else if(sensor > 0.1){
            led1 = 1;
            led2 = 0;
            led3 = 0;
            led4 = 0;
//            forward();
    stop();
        } else {
            led1 = 0;
            led2 = 0;
            led3 = 0;
            led4 = 0;
            stop();
        }
        wait(1);
        timer = timer + 1;
        timer = timer - 1;
    }
}