File content as of revision 2:483c2e492a36:

#include "robot.h"
#include <sstream>

volatile double leftspeed;
volatile double rightspeed;

char received[80];
int r_index;

int sensors[5];

/*
    parses a single command from the stream
*/
int parse_command(const char* cmd)
{
    //xbee.printf("%s\n", cmd);
    if(cmd[1]==':'){
        if(cmd[0]=='l'){
            leftspeed = atof(&cmd[2]);
        }else if(cmd[0]=='r'){
            rightspeed = atof(&cmd[2]);
        }else{
            xbee.printf("%s\n",cmd); 
        }
    }else{
        xbee.printf("%s\n",cmd);
    }
    return 0;
}

void Rx_interrupt()
{
    // assume recursive interrupt is not possible
    led2 = 1;
    char read;
    
    while(xbee.readable()){
        read = xbee.getc();
        if(read=='\n'){
            received[r_index]='\0'; // put a null character at the end
            parse_command(received);
            r_index=0;
            //command.str("");
        } else {
            if(r_index >= 80){
                r_index=0;
            }
            received[r_index]=read;
            r_index++;
            //command << read;
        }
    }
    
    led2=0;
    
    return;
}

int main() {
    
    xbee.attach(&Rx_interrupt, Serial::RxIrq);
    xbeeReset = 0;
    wait(2);
    xbeeReset = 1;
    pi.sensor_auto_calibrate();
    r_index = 0;
    received[0] = '\0';

    while(1){
        led1 = 1;
        wait_ms(50);
        pi.left_motor(leftspeed);
        pi.right_motor(rightspeed);
        led1 = 0;
        wait_ms(50);
        pi.sensor_reading(sensors);
        int* s = sensors;
        __disable_irq();
        xbee.printf("s:%i,%i,%i,%i,%i\n", s[0], s[1], s[2], s[3], s[4]);
        __enable_irq();
        __disable_irq();
        xbee.printf("p:%f\n", pi.line_position());
        __enable_irq();
        // xbee.printf("%s\n",received)
    }

    return 0;
}