File content as of revision 1:dce65fc7681d:

#include "mbed.h"
#include "Motor.h"
 
AnalogIn inputx(p20); // input pins 20,19,18 for x,y,z axis respectively.
AnalogIn inputy(p19);

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
 
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(1)
    {  
        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)
   {
       for (float s= -1.0; s > -1000.0 ; s += -0.01)
      
       m1.speed(s); // anticlockwise
      for (float s= -1.0; s > -1000.0 ; s += -0.01)  
       m2.speed(s);
    
   }
   
     
    else if (x>=0 && y>=0)
   { for (float s= 1.0; s < 1000.0 ; s += 0.01)
       m1.speed(s); // clockwise
      for (float s= 1.0; s < 1000.0 ; s += 0.01)
      m2.speed(s);                                                                                                 
  
   }
    
    else
    {
        m1.speed(0);
        }
       
       
     
        //passing the caliberated x,y,z values to the computer.
        }  
       
}