File content as of revision 0:43331220df0d:

#include "QEI.h"
#include "mbed.h"
#include "robot.h"
#include "rtos.h"
#define ulrL PTD6
#define ulR PTD5
#define ulF PTD1
#define ulrR PTC2
#define ulB PTC1
#define ulL PTC0
AnalogIn uL(ulL);
AnalogIn uF(ulF);
AnalogIn uR(ulR);
AnalogIn urR(ulrR);
AnalogIn urL(ulrL);
char c;
int main() {
     initRobot();
     Thread buzzer_th(pl_buzzer, NULL, osPriorityNormal, 2048, NULL);
     motor_control(lMotor*m_speed,rMotor*m_speed);
    while(1){
       //bt.printf("Pulses is:   Revolutions is: \r\n");
      //bt.lock();
       // bt.printf("LDR1_%lf;LDR2_%lf;Pulses is: %i  Revolutions is: %i Pulses is: %i  ultrasonic: , \r\n",ldrread1(),ldrread2(), left.getPulses(), left.getRevolutions(),right.getPulses());//, uL.read()*5*102.54*2.54);
        //bt.printf("s;LDR1_%lf;LDR2_%lf;Pulses is:  %i ; %i:s\n\r",ldrread1(),ldrread2(),wheel.getPulses(), wheel.getRevolutions());
       // motor_control(lMotor*m_speed,rMotor*m_speed);
         //bt.unlock(); 
        if(bt.readable()){
        c = bt.getc();
        if(c=='?')
        {
            bt.lock();
            bt.printf("EBOTDEMO\n");
            bt.unlock(); 
        }
       /* int number = (c-'0');
        stdio_mutex.lock();
        freq = number;
        stdio_mutex.unlock();
        motor_control(0,0);
        
        */}
         if(ldrread1()>0.6)
    {
        //pl_buzzer(); 
        
    }
    if(ldrread2()>0.6)
    { 
        Led_on();
    }
     else
    {
       Led_off();
    }
        //Thread::wait(1);
    Thread::wait(50);
   
   }
}