File content as of revision 6:9f698d1b2996:

#include "mbed.h"
//#include "IRSensor.h"
//#include "encoder.h"
#include "left_motor.h"

/*
Serial serial (PA_9, PA_10);

IRSensor testIR_RIGHT(PB_0, PA_4); //emmiter and receiver right most sensor
IRSensor testIR_LEFT(PA_8, PC_5); //emmiter and receiver left most sensor
IRSensor testIR_TOP1(PC_6, PA_7); //emmiter and receiver TOP LEFT sensor
IRSensor testIR_TOP2(PB_10, PA_6); //emmiter and receiver TOP RIGHT sensor
IRSensor testIR_DIAG_LEFT(PC_7, PC_4); //emmiter and receiver DIAG LEFT sensor
IRSensor testIR_DIAG_RIGHT(PB_1, PA_5); //emmiter and receiver DIAG RIGHTsensor
*/


DigitalOut testLed(PB_12);
DigitalOut testLed2(PB_13);
DigitalOut testLed3(PB_14);
DigitalOut testLed4(PB_15);

/*
AnalogIn Ain(PA_3);
AnalogIn gyro(PC_1);
DigitalOut gyro_sleep(PC_2);

 
*/

//Motor leftMotor(PB_7, PB_6);
//Motor rightMotor(PB_9, PB_8);
/*



*/

// pwm
/*
PwmOut motor_pwm_left_sig(PB_7);
DigitalOut dir_left(PB_6);
//// dir
PwmOut motor_pwm_right_sig(PB_9);
DigitalOut dir_right(PB_8);
*/
/*

Encoder leftEncoder(PC_9, PC_8);
 
 
void battery_helper() {
    if(Ain.read() < 0.67f){
             testLed = 1;
             testLed2 = 1;
             testLed3 = 1;
             testLed4 = 1;
             serial.printf("voltage is in danger area, UNPLUG\r\n");
    }
} 
*/

/*
void toggle() {
    testLed2 = 1; 
    testLed3 = 1;
    
    leftMotor.speed(0.2f);
    rightMotor.speed(0.2f);
    
    
    motor_pwm_left_sig.period(0.001f); 
    motor_pwm_left_sig.write(0.2f);
    motor_pwm_right_sig.period(0.001f); 
    motor_pwm_right_sig.write(0.6f);
    
    wait(5);
    motor_pwm_right_sig = 0;
    motor_pwm_left_sig = 0;
    
 
} */
 
int main ()
{
    //serial.printf ("Start Program\n");
    testLed2 = 1; 
    testLed3 = 1;
    
    LeftMotor * motor = new LeftMotor();
    motor->inv_dir(0);
    motor->speed(0.9f);
    
    
    /*
    
    PwmOut motor_pwm_left_sig(PB_7);
    DigitalOut dir_left(PB_6);
    //// dir
    PwmOut motor_pwm_right_sig(PB_9);
    DigitalOut dir_right(PB_8);
    
    */
    
    /*
    Motor * leftMotor = new Motor(PB_7, PB_6);
    Motor * rightMotor = new Motor(PB_9, PB_8);
    
    leftMotor->speed(0.2f);
    rightMotor->speed(0.2f);
    */
    
    //leftMotor = 0.2f;
    //rightMotor = 0.2f;
        
    /* 
     wait(3);
     toggle();
     
     wait(3);
     toggle();
     
     wait(3);
     toggle();
     
     wait(3);
     toggle();
     */
     
     //double angle 
     /*
     while (1)
     {
        battery_helper();
        
        testLed2 = 1; 
        testLed3 = 1;
         
        // wait (0.2);
        // testLed2 = 0;
        // testLed3 = 0; 
         //wait (0.2); 
         

         motor_pwm_left_sig.period(0.001f); 
         motor_pwm_left_sig.write(0.2f);
         motor_pwm_right_sig.period(0.001f); 
         motor_pwm_right_sig.write(0.6f);
         dir_left = 0;
         dir_right = 1;
         
         wait(2);
         
         motor_pwm_right_sig = 0;
         dir_right = 0;
         motor_pwm_left_sig = 0;
         
       
         int dist = getEncoderDistance();
         //serial.printf("Encoder %d \r\n", getEncoderDistance());        
     } */
 }
 

 /*
 void motor_tester() {

 } 

 void sensor_tester() {
     //         serial.printf("Left sensor: %f\r\n", testIR_LEFT.readIR());
    //         serial.printf("Left Diagnal %f\r\n", testIR_DIAG_LEFT.readIR());
         serial.printf("TOP LEFT %f\r\n", testIR_TOP1.readIR());
         serial.printf("TOP RIGHT %f\r\n", testIR_TOP2.readIR());
    //         serial.printf("Right Diagnal %f\r\n", testIR_DIAG_RIGHT.readIR());
    //         serial.printf("Right sensor: %f\r\n", testIR_RIGHT.readIR());
         wait(1);
         
 }
 
 void voltage_tester() {
    serial.printf("voltage value is: %3.3f%%\r\n", Ain.read()*100.0f);
    serial.printf("normalized: 0x%04X \r\n", Ain.read_u16());
 } 
 
 void gyro_tester() {
    double offset = .4451;
    gyro_sleep = 1;
    double gyro_value = (gyro.read() - offset) * .67 / offset * 600;  // Offset of .4455 measured experimentally
    angle += gyro_value * .01;
    wait(.01);
    serial.printf("Gyro value: %f\r\n", gyro_value);
 } */