File content as of revision 45:29d1f7734b9b:

#include "mbed.h"
#include <stdio.h>
#include "Motor.h"
#include "rgbled.h"
#include "rgbSensor.h"
#include "universal.h"
#include <ctime>

// Define threads and mutexes
Thread thread1;
Thread thread2;
Thread thread3;

// Global game actions
bool paused = false;
void check_unpause() {
    char bnum=0;
    char bhit=0;
    while (paused) {
        if (blue.getc()=='B') { //button data packet
            bnum = blue.getc(); //button number
            bhit = blue.getc(); //1=hit, 0=release
            if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
                if (bnum == '1') { //number button 1, pause
                    if (bhit=='1') paused = false;
                }
            }
        }
    }
}

void game_paused() {
    // Cycle through LEDs
    sstate = pause;
    Thread pause_thread;
    pause_thread.start(check_unpause);
    while (paused) {
        int num = 1;
        for (int i = 0; i < 3; i++) {
            num *= 2;
            myled = num;
            ThisThread::sleep_for(100);
        }
        ThisThread::sleep_for(500);
        for (int i = 3; i > 0; i--) {
            num /= 2;
            myled = num;
            ThisThread::sleep_for(100);
        }
        ThisThread::sleep_for(500);
    }
    pause_thread.terminate();
}

void win() {
    while(1) {
        unsigned int rgbColor[3];
        
        // Start off with red.
        rgbColor[0] = 255;
        rgbColor[1] = 0;
        rgbColor[2] = 0;  
        
        // Choose the colors to increment and decrement.
        for (int decColor = 0; decColor < 3; decColor += 1) {
            int incColor = decColor == 2 ? 0 : decColor + 1;
            
            // cross-fade the two colors.
            for(int i = 0; i < 255; i += 1) {
                rgbColor[decColor] -= 1;
                rgbColor[incColor] += 1;
                
                myRGBled.write(rgbColor[0]/255.0, rgbColor[1]/255.0, rgbColor[2]/255.0);
                ThisThread::sleep_for(1);
            }
        }
    }
}

// Thread to control speed
void speed_control() {
    // The kart has to be in one of three states at all times
    while(1) {
        while(sstate == coasting) {
            if (speed_cmd > 0.0) speed_cmd -= coast_rate;
            else speed_cmd = 0.0;
            left.speed(speed_cmd * left_multiplier);
            right.speed(speed_cmd * right_multiplier);
            ThisThread::sleep_for(200);
        }
        while(sstate == accelerating) {
            if (speed_cmd < max_speed) speed_cmd += acceleration_rate;
            else speed_cmd = max_speed;
            left.speed(speed_cmd * left_multiplier);
            right.speed(speed_cmd * right_multiplier);
            ThisThread::sleep_for(200);
        }
        while(sstate == braking) {
            if (speed_cmd > -1.0) speed_cmd -= brake_rate;
            else speed_cmd = -1.0;
            left.speed(speed_cmd * left_multiplier);
            right.speed(speed_cmd * right_multiplier);
            ThisThread::sleep_for(200);
        }
        while(sstate == pause) {
            left.speed(0.0);
            right.speed(0.0);
        }
    }
}

void powerupthread() {
    while(1){
        if(powerup){
            max_speed = 1.0;
            ThisThread::sleep_for(5000);
            max_speed = 0.8;
            powerup = false;
        }
        ThisThread::sleep_for(300);
    }
}

// Thread for checking rgb sensor values and updating game variables
// Change later depending on behavior of RGB sensor and colors used
int t = 8000;   //change this depending on RGB values
void check_RGB() {
    while(true){
        rgbsensor.update();
        int C_value = rgbsensor.get_C();
        int R_value = rgbsensor.get_R();
        int G_value = rgbsensor.get_G();
        int B_value = rgbsensor.get_B();
        if(R_value < 3000 && B_value > 6500) {     //Check for if cart runs over a speed boost panel
            pc.printf("Found blue");
            powerup = true;      //change this depending on speed up panel algs
            cstate = 0;
        }
        else if(R_value > 3000 && G_value < 2000 && B_value < 2000) {     //Check if cart reaches next checkpoint. cstate is set to 1 upon seeing first color of checkpoint
            pc.printf("Found red");
            paused = true;
            win();
        }
        pc.printf("[C: %d, R: %d, G: %d, B: %d]\r\n", C_value, R_value, G_value, B_value); 
        ThisThread::sleep_for(500);
    }
}

int main() {
    pc.printf("Initializing ");
    
    // Start threads
    thread1.start(check_RGB);
    thread2.start(speed_control); // Since we're stopped, this won't do anything
    thread3.start(powerupthread);
    
    std::clock_t start;
    double duration;
    start = std::clock();
    
    // Bluetooth controller code
    char bnum=0;
    char bhit=0;
    pc.printf("running");
    while(running) {
        if (blue.getc()=='!') {
            if (blue.getc()=='B') { //button data packet
                bnum = blue.getc(); //button number
                bhit = blue.getc(); //1=hit, 0=release
                if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
                    switch (bnum) {
                        case '1': //number button 1, pause
                            if (bhit=='1') {
                                paused = true;
                                game_paused();
                            }
                            break;
                        case '2': //number button 2, accelerate
                            if (bhit=='1') {
                                sstate = accelerating;
                                pc.printf("accelerating");
                            } else {
                                sstate = coasting;
                            }
                            break;
                        case '3': //number button 3
                            if (bhit=='1') {
                            } else {
                            }
                            break;
                        case '4': //number button 4, brakes
                            if (bhit=='1') {
                                sstate = braking;
                            } else {
                                sstate = coasting;
                            }
                            break;
                        case '5': //button 5 up arrow
                            if (bhit=='1') {
                                pc.printf("up");
                            } else {
                            }
                            break;
                        case '6': //button 6 down arrow
                            if (bhit=='1') {
                            } else {
                            }
                            break;
                        case '7': //button 7 left arrow
                            if (bhit=='1') {
                                pc.printf("left");
                                left_multiplier = 0.5;
                                right_multiplier = 1.0;
                            } else {
                                left_multiplier = 1.0;
                                right_multiplier = 1.0;
                            }
                            break;
                        case '8': //button 8 right arrow
                            if (bhit=='1') {
                                pc.printf("right");
                                left_multiplier = 1.0;
                                right_multiplier = 0.5;
                            } else {
                                left_multiplier = 1.0;
                                right_multiplier = 1.0;
                            }
                            break;
                        default:
                            break;
                    }
                }
            }
        }
    }
    // Clean up
    duration = ( std::clock() - start ) / (double) CLOCKS_PER_SEC;
    pc.printf("%d",duration);
    thread1.terminate();
    thread2.terminate();
    thread3.terminate();
}