File content as of revision 1:8b9c0e69c6c9:

#include "mbed.h"
#include "sMotor.h"

Serial pc(USBTX, USBRX);
Serial Blue(p28,p27);
sMotor motor(p9, p10, p11, p12); // creates new stepper motor: IN1, IN2, IN3, IN4
DigitalOut laser(p20); 

int step_speed = 1100; // set default motor speed
int dir = 0; //0 is CW, 1 is CCW

volatile int C = 30; 
volatile int numstep; // defines basic turn distance -- 256 steps == 360 degrees
volatile bool stationary = 1; 
volatile bool isrand = 0; 
volatile bool manual = 0; 
volatile int  bnum = 0;
volatile int  bhit;
volatile int power = 1; 
//state used to remember previous characters read in a button message
enum statetype {start = 0, got_exclm, got_B, got_num, got_hit};
statetype state = start;
//Interrupt routine to parse message with one new character per serial RX interrupt
void parse_message() {
    switch (state) {
        case start:
            if (Blue.getc()=='!') state = got_exclm;
            else state = start;
            break;
        case got_exclm:
            if (Blue.getc() == 'B') state = got_B;
            else state = start;
            break;
        case got_B:
            bnum = Blue.getc();
            state = got_num;
            break;
        case got_num:
            bhit = Blue.getc();
            state = got_hit;
            break;
        case got_hit:
            if (Blue.getc() == char(~('!' + ' B' + bnum + bhit))) {
                switch (bnum) {
                    case '1': //number button 1
                        isrand = 0;
                        stationary = 1; 
                        break;
                    case '2': //number button 2
                        stationary = 0; 
                        isrand = 0; 
                        numstep = C; 
                        break;
                    case '3': //number button 3
                        stationary = 0;
                        isrand = 1;
                        break;
                    case '4': //number button 4
                        power = !power;
                }
            }
        default:
            Blue.getc();
            state = start;
    }
}

int main() {

    //Credits
    printf("Cat Tower - Test Program\r\n");
    printf("\n\r");

    // Screen Menu
    printf("Default Speed: %d\n\r",step_speed);
    printf("Use Adafruit Bluefruit buttons to select mode");
    
    // attach interrupt function for each new Bluetooth serial character
    Blue.attach(&parse_message,Serial::RxIrq);
    
    //int count = 0; 
    //int temp = 1; 

    while (1) {
        laser = power;
        if (stationary != 1) {
            if (isrand == 1) {
                numstep = rand() % C+1;
                //if (count + temp*numstep < 0) {
                //    numstep = count; 
                //} else if (count + temp*numstep > C) {
                //    numstep = C - count; 
                //}
                //count = count + temp*numstep;
                //temp = -temp;
            }
            motor.step(numstep, dir, step_speed); // number of steps, direction, speed 
            dir = 1 - dir; //swap directions
        }
    }
}