File content as of revision 0:4b909635e2d2:

#include "mbed.h"
#include "LM75B.h"
#include "SRF02.h"
#include <string>
#include <stdio.h>
#include <stdlib.h>

/***********Components****************/
Serial pc(USBTX, USBRX);                                    //PC debug
Serial wifi(p9,p10);                                        //poort voor de wifly module
LM75B sensor(p28,p27);                                      //Temperatuur sensor
SRF02 srf02(p28, p27, 0xE0, 0x51);                          //ultrasoon range sensor
PwmOut R_V(p21);                                            //PWM
PwmOut R_A(p22);
PwmOut L_V(p23);
PwmOut L_A(p24);

/***********Variables****************/
string str = "";
char temp[8];                                               //char array voor temperatuur data
char afstand[8];                                            //char array voor afstand data
char c;                                                     //c slaagt inkomenbde karakters op

/***********Functions****************/
void send(const char * str);
void write_wifi(const char * msg);
void stuurmotors(float Rechts_Vooruit, float Rechts_Achteruit, float Links_Vooruit, float Links_Achteruit);
void richting(char c,float value);
void wifi_config();

/***********main*********************/
int main()
{
    string pwm = "";                                        //deel van string met pwm waarde
    int value =0;                                           //variabele voor de omzetting van string van pwm
    pc.printf("wifly TCP Read!\r\n");                       //print test wifly!!

    wifi_config();                                          //functie om adhoc op te zetten
    
    if (sensor.open()) {
        pc.printf("Devices detected!\n\r");
        pc.printf("Temp: %.3f C\n\r", (float)sensor);
        pc.printf("Range: %.2f cm\n\r",srf02.read());
    }

    while(1) {
        wait(0.01);
        sprintf(temp, "%5.2f",(float)sensor);
        sprintf(afstand, "%5.2f",srf02.read());
        while(wifi.readable()) {
            c = wifi.getc();                                //inkomend karakter is opgeslagen in c
            if(c == '*') {                                  //wanneer inkomend karakter gelijk is aan '*'
                pwm = str.substr(3,2);                      //laatste deel van string opslaan in string pwm
                value = (double)atof(pwm.c_str());          //string van pwm omzetten in double
                richting(str[0],value);                     //richting bepalen + motoren juist aansturen
                str = "";                                   //string terug leegmaken
            } else {
                str = str + c;                              //als karakter nog niet gelijk is aan '*' string vullen
            }
        }        
    }
}

void send(const char * str)                                 //functie om commando te schrijven naar wifly
{
    int len = strlen(str);
    for(int i = 0; i < len; i++) {
        wifi.putc(str[i]);                                  //schrijft commando karakter per karakter in de wifly
    }
}

void write_wifi(const char * msg)
{
    while(wifi.writeable()) {
        send(msg);
    }
}

void stuurmotors(float Rechts_Vooruit, float Rechts_Achteruit, float Links_Vooruit, float Links_Achteruit)
{
    R_V = Rechts_Vooruit;
    R_A = Rechts_Achteruit;  
    L_V = Links_Vooruit;
    L_A = Links_Achteruit;  
      
}

void richting(char c,float value)                           //functie bepaalt richting en pwm waarde
{
    float waarde;
    waarde = value/100;                                     //value is waarde achter de komma, value/100 is komma getal geschikt voor pwm

    switch (c) {
        case '0':
            stuurmotors(0, 0, 0, 0);
            break;
        case '1':
            stuurmotors(waarde, 0, waarde, 0);
            break;
        case '2':
            stuurmotors(0, waarde, 0, waarde);
            break;
        case '3':
            stuurmotors(0, waarde, waarde, 0);
            break;
        case '4':
            stuurmotors(waarde, 0, 0, waarde);
            break;
        case '5':
            write_wifi(temp);
            break;
        case '6':
            write_wifi(afstand);
            break;
        default:
            stuurmotors(0, 0, 0, 0);
            write_wifi("ERROR!");
    }   
}

void wifi_config()                                          //wifi_config schrijft commando's in wifly om adhoc op te zetten
{
    send("$$$");                                            //commando om wifly in command mode te zetten
    pc.putc(wifi.getc());                                   //print acknowledge
    pc.putc(wifi.getc());
    pc.putc(wifi.getc());

    send("set w j 4\r");                                    //set wlan join 4
    pc.putc(wifi.getc());                                   //print acknowledge
    pc.putc(wifi.getc());
    pc.putc(wifi.getc());
    while(wifi.readable())                                  //print ack
            pc.putc(wifi.getc());

    send("set w s Edu_Robot\r");                            //set wlan ssid EDU_robot
    pc.putc(wifi.getc());                                   //print acknowledge
    pc.putc(wifi.getc());
    pc.putc(wifi.getc());
    while(wifi.readable())                                  //print ack
            pc.putc(wifi.getc());

    send("set w c 2\r");                                    //set wlan channel 0
    pc.putc(wifi.getc());                                   //print acknowledge
    pc.putc(wifi.getc());
    pc.putc(wifi.getc());
    while(wifi.readable())                                  //print ack
            pc.putc(wifi.getc());

    send("set i a 169.254.1.1\r");                          //set ip adress 169.254.1.1
    pc.putc(wifi.getc());                                   //print acknowledge
    pc.putc(wifi.getc());
    pc.putc(wifi.getc());
    while(wifi.readable())                                  //print ack
            pc.putc(wifi.getc());

    send("set i n 255.255.0.0\r");                          //set ip netmask 255.255.0.0
    pc.putc(wifi.getc());                                   //print acknowledge
    pc.putc(wifi.getc());
    pc.putc(wifi.getc());
    while(wifi.readable())                                  //print ack
            pc.putc(wifi.getc());

    send("set i d 0\r");                                    //set ip dhcp 0
    pc.putc(wifi.getc());                                   //print acknowledge
    pc.putc(wifi.getc());
    pc.putc(wifi.getc());
    while(wifi.readable())                                  //print ack
            pc.putc(wifi.getc());
    
    send("set c c 0\r");                                    //set command close *
    pc.putc(wifi.getc());                                   //print acknowledge
    pc.putc(wifi.getc());
    pc.putc(wifi.getc());
    while(wifi.readable())                                  //print ack
            pc.putc(wifi.getc());

    send("set c o 0\r");                                    //set command open 0
    pc.putc(wifi.getc());                                   //print acknowledge
    pc.putc(wifi.getc());
    pc.putc(wifi.getc());
    while(wifi.readable())                                  //print ack
            pc.putc(wifi.getc());

    send("set c r 0\r");                                    //set command remote 0
    pc.putc(wifi.getc());                                   //print acknowledge
    pc.putc(wifi.getc());
    pc.putc(wifi.getc());
    while(wifi.readable())                                  //print ack
            pc.putc(wifi.getc());

    send("save\r");                                         //save settings
    pc.putc(wifi.getc());                                   //print acknowledge
    pc.putc(wifi.getc());
    pc.putc(wifi.getc());
    while(wifi.readable())                                  //print ack
            pc.putc(wifi.getc());

    send("reboot\r");                                       //reboot module
    pc.putc(wifi.getc());                                   //print acknowledge
    pc.putc(wifi.getc());
    pc.putc(wifi.getc());
    while(wifi.readable())                                  //print ack
            pc.putc(wifi.getc());
    wait(1);
}