File content as of revision 6:0cd57bdd8fbc:

#include "wheelchair.h"

AnalogIn x(A0);
AnalogIn y(A1);

DigitalOut off(D0);
DigitalOut on(D1);
DigitalOut up(D2);
DigitalOut down(D3);

Serial pc(USBTX, USBRX);

Wheelchair smart(xDir,yDir, &pc);

int main(void)
{
    on = 1;
    while(1) {
        /*   if( pc.readable()) {
               char c = pc.getc();
               if( c == 'w') {
                   pc.printf("up \n");
                   smart.forward();
                   }

               else if( c == 'd') {
                   pc.printf("left \n");
                   smart.left();
                   }

               else if( c == 'a') {
                   pc.printf("right \n");
                   smart.right();
                   }

               else if( c == 's') {
                   pc.printf("down \n");
                   smart.backward();
                   }

               else {
                   pc.printf("none \n");
                   smart.stop();
                   if( c == 'o') {
                      pc.printf("turning on");
                      on = 0;
                      wait(process);
                      on = 1;
                       }

                   else if( c == 'k') {
                       off = 0;
                       wait(process);
                       off = 1;
                       }

                   else if( c == 'u') {
                       up = 0;
                       wait(process);
                       up = 1;
                       }

                   else if( c == 'p') {
                       down = 0;
                       wait(process);
                       down = 1;
                       }
                   }
                  }

           else {
              pc.printf("Nothing pressed \n");
              smart.stop();
                   }
          */
        smart.move(x,y);
        if( pc.readable()) {
            char c = pc.getc();
            if( c == 'r') {
                smart.turn_right(pc);
            }
        }
        wait(process);
    }

}