File content as of revision 0:3c7038dd80b3:

#include "mbed.h"
#include "TCS3472_I2C.h"
#include "ContinuousServo.h"
#include "Tach.h"


Serial pc(USBTX,USBRX);
PwmOut LB(p22);
TCS3472_I2C rgb_sensor(p9, p10);
ContinuousServo left(p23);
ContinuousServo right(p26);
float turn, pt;
float r,l;
//ecnoders
Tach tLeft(p17,64);
Tach tRight(p13,64);
int main()
{
    rgb_sensor.enablePowerAndRGBC();
    rgb_sensor.setIntegrationTime(100);

    pc.baud(9600);
    int rgb_data[4];
    float PWMbrightness=1.0;
    right.speed(-0.1);
        left.speed(0.1);
    while (1) {
        LB=PWMbrightness;
        rgb_sensor.getAllColors(rgb_data);
        pc.printf("unfiltered: %d, red: %d, green: %d, blue: %d \n\r", rgb_data[0], rgb_data[1], rgb_data[2], rgb_data[3]);
        turn=(750-rgb_data[0]);
        pt=0.00038*(turn);
        if (pt>0.25) {
            pt=0.25;
        }
        if (pt<-0.25) {
            pt=-0.25;
        }
        r=-0.1-(pt/2);
        l=0.1-(pt/2);
        right.speed(r);
        left.speed(l);
        pc.printf("right %f, left %f\n\r",r,l);
    }
}
/* if ((rgb_data[0]<=800)&&(rgb_data[0]>=740)) {
     pc.printf("Go straight, %d \n\r",rgb_data[0]);
 } else if (rgb_data[0]<740) {
     pc.printf("Turn left, %d\n\r",rgb_data[0]);
 } else if (rgb_data[0]>800) {
     pc.printf("Turn right, %d \n\r",rgb_data[0]);
 }
 wait (0.5);
}
}*/