File content as of revision 0:6da7d0e457a2:

#include "mbed.h"
#include "omuni.hpp"

int addr[] = {0x10, 0x12, 0x14};
int armAddr[] = {0x16, 0x18};
bool arm = false;

Serial p(USBTX, USBRX);
Serial pc(PA_11, PA_12);
I2C i2cMaster(D14, D15);
// archan
omuni omuni(&i2cMaster, TIM1, TIM2, TIM3, 800, 2.0f, addr, 0.25f, 0.1f);

float vx, vy, ome;
bool f, pre_f;
char recv[3] = {0};

void pc_rx()
{
    char rtemp = pc.getc();
    
    if((rtemp & 0b11000000) == 0b00000000)         recv[0] = rtemp;
    else if((rtemp & 0b11000000) == 0b01000000)    recv[1] = rtemp;
    else if((rtemp & 0b11000000) == 0b10000000)    recv[2] = rtemp;
    
    float direc = (recv[0] & 0x0f) * 3.141592 / 8.0;
    float speed = 0.8 * ((recv[0] & 0b00110000) >> 4);
    vx = speed * cos(direc) * -1;
    vy = speed * sin(direc) * -1;
    
    if(recv[2] & 0b1)
    {
        arm = true;
    }
    else
    {
        arm = false;
    }
    
    if(recv[1] & 0b11000)
    {
        f = false;
        ome = ((recv[1] & 0b11000) >> 3) * 3.141592 / 2.0;
        if(recv[1] & 0b100000)  ome *= -1;
    }
    else
    {
        if(recv[1] & 0b11)
        {
            f = true;
//            if(pre_f == false)  omuni.reset_theta();
        }
        else
        {
            f = false;
        }
        ome = (recv[1] & 0b11) * 3.141592 / 2.0;
        if((recv[1] & 0b100))   ome *= -1;
    }
    pre_f = f;
}

int main()
{
    p.baud(115200);
    pc.baud(9600);
    pc.printf("Hello!\n");
    pc.attach(pc_rx, Serial::RxIrq);
    omuni.set_speed(0.0f, 0.0f);
    // archan
    omuni.set_pid(0, 3.0f, 0.07f, 0.05f);
    omuni.set_pid(1, 3.0f, 0.07f, 0.05f);
    omuni.set_pid(2, 3.0f, 0.07f, 0.05f);
    
    while(1)
    {
        wait(0.001);
        omuni.set_speed(vx, vy, ome, f);
        omuni.drive();
        
        if(arm)
        {
            char send = -127;
            i2cMaster.write(armAddr[0], &send, 1);
            i2cMaster.write(armAddr[1], &send, 1);
        }
        else
        {
            char send = 0;
            i2cMaster.write(armAddr[0], &send, 1);
            i2cMaster.write(armAddr[1], &send, 1);
        }
        
        p.printf("%f\n", omuni.get_theta());
    }
}