File content as of revision 3:68fe5b9e069a:

#include "mbed.h"
#include "BluetoothSerial.h"
#include "SeeedStudioShieldBot.h"

// The following configuration must be done on the NUCLEO board:
// - Close SB62/SB63 and open SB13/SB14 solder bridges to enable the D0/D1 pins
// - Open SB21 solder bridge to disconnect the LED

BluetoothSerial bluetooth(D1, D0); // TX, RX

SeeedStudioShieldBot bot(
    D8, D9, D11,       // Right motor pins (PwmOut, DigitalOut, DigitalOut) -> Motor 1
    D12, D10, D13,     // Left motor pins (PwmOut, DigitalOut, DigitalOut) -> Motor 2
    A0, A1, A2, A3, A4 // Sensors pins (all DigitalIn)
);

// Enable it for debugging on hyperterminal
#define DEBUG 1
#if DEBUG == 1
Serial pc(PC_10, PC_11);
#define PC_DEBUG(args...) pc.printf(args)
#else
#define PC_DEBUG(args...)
#endif

Ticker tick;

float speed = 1.0; // Used to select the motors speed
int stop = 0; // Used to stop the motors when a sensor detects something

void ReadCommand(void)
{
    int cmd = 0;
    PC_DEBUG(">>> Read command...\n");

    if (bluetooth.readable())
    {
        cmd = bluetooth.getc();
        PC_DEBUG(">>> Bluetooth read [%c]\n", cmd);
      
        // Ignore the receive command (excepted "Backward") if a sensor has detected something.
        if ((stop) && (cmd != '2')) return;

        switch (cmd)
        {
            case '1': // Forward
                bot.forward(speed);
                break;
            case '2': // Backward
                bot.backward(speed);
                break;              
            case '3': // Left
                bot.left(speed);
                break;
            case '4': // Right
                bot.right(speed);
                break;              
            case '5': // Turn left
                bot.turn_right(speed);
                break;
            case '6': // Turn right
                bot.turn_left(speed);
                break; 
            case '7': // Slow
                speed = 0.4;
                break;
            case '8': // Fast
                speed = 1.0;
                break;
            default: // Stop
                bot.stopAll();
                break;
         }
    }    
}
    
int main()
{
    PC_DEBUG("\n\nSeeed Bluetooth shield test started.\n");
      
    // Enable motors
    bot.enable_right_motor();
    bot.enable_left_motor();
  
    PC_DEBUG(">>> Bluetooth setup...");
    bluetooth.setup();
    PC_DEBUG("done\n");
  
    PC_DEBUG(">>> Bluetooth in slave mode...");
    bluetooth.slave("btslave8seeed");  // default PIN code: 0000
    PC_DEBUG("done\n");
    
    wait(2);
    
    PC_DEBUG(">>> Bluetooth connect...");
    bluetooth.connect();
    PC_DEBUG("done\n");
    
    tick.attach(ReadCommand, 0.3); // Every 300 ms read Bluetooth command

    // Check if motors are alive
    bot.left(speed);
    wait(0.2);
    bot.right(speed);
    wait(0.2);
    bot.stopAll();

    while (1) {
        // Stop the motors if a sensor has detected something.
        if (!bot.rightSensor || !bot.inRightSensor || !bot.centreSensor || !bot.inLeftSensor || !bot.leftSensor)
        {
            if (!stop) bot.stopAll();
            stop = 1;
        }
        else
        { 
            stop = 0;
        }
    }
}