File content as of revision 12:bbdc4c6d12d3:

#include "mbed.h"
#include "Motor.h"
#include "rtos.h"
 
AnalogIn inputx(p20); // input pins 20,19,18 for x,y,z axis respectively.
AnalogIn inputy(p19);
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
Motor m1(p23,p5,p6); // pwm, fwd, rev
//Motor m2(p22,p11,p12); // pwm,fwd,rev

Serial pc(USBTX,USBRX); //Serial class for transmission of serial data
Thread thread;  

 void led2_thread() {
    //while (true) {
         
        led2 = !led2;
        pc.printf("thread2 executed");
        Thread::wait(500);
      
    //} 
    
}
 
 void led1_thread() {
   // while(true) {
       
        led1 = !led1;
        pc.printf("thread1 executed");
       
       Thread::wait(500);
     
  //  }
}

void led3_thread() {
    //while (true) {
         pc.printf("invalid");
         led3 = !led3;
        //m2.speed(0);
        Thread::wait(500);
  //  }
}


int main() 
{
pc.baud(9600);   // fixing a constant baud rate of 9600 bps at which mbed will interact with computer
float cal_x,cal_y;  //caliberation variables
int x,y; // variables for x,y,z axes
int i=100;
while(i--)      //small timed loop to caliberate the accelerometer with currentl position of the accelerometer
{
cal_x=inputx*100;
cal_y=inputy*100;

}
while(true)
    {  
     Thread::wait(500);
        x=4*(cal_x - inputx*100);
        y=4*(cal_y - inputy*100);
 
  
    y=(y-30);
      pc.printf("x=%d,y=%d *",x,y);
      pc.printf("\n");
     
    if(x >= 0 && y >=0)
   {
      pc.printf("\n Anticlockwise\n");
        for (float s= 1.0; s < 10.0 ; s += 0.01)
       m1.speed(s); // clockwise
   thread.start(led1_thread);
   }
   
     
    else if (x <= 0 && y <=0)
   { 
     pc.printf("\n Clockwise \n");
        for(float s= -1.0; s > -10.0 ; s += -0.01)
        m1.speed(s); 
      
       // anticlockwise //Anticlockwise
                //  led1_thread();                                                                                    
  thread.start(led2_thread);
   }
    
   else  if((x<=0 && y>=0)|| (x>=0 && y<=0))
    {
         pc.printf("");
         m1.speed(0); //stop
         thread.start(led3_thread);
        }
       
       Thread::wait(500);
     
        //passing the caliberated x,y,z values to the computer.
        }  
       
}