File content as of revision 5:f1613df66ceb:

#define PI 3.141

#include "math.h"
#include "mbed.h"
#include "Encoder.h"
#include "lineSensor.h"
#include "PID2.h"
#include "PID.h"
#include "Wheel.h"
#include "Robot.h"


//blue D8
//Green D9
//Red D5
int main() {
    Serial pc(USBTX, USBRX);
    
    DigitalOut enable(PA_13);
    enable.write(1);
    
    Encoder* RE = new Encoder(PB_3,PB_5);
    Encoder* LE = new Encoder(PB_10,PB_4);
    Wheel* leftWheel = new Wheel(LE,PC_8,PA_9, PA_14);
    Wheel* rightWheel = new Wheel(RE,PC_6,PA_8, PA_7);
    
    //an array of lineSensor pointers params: lineSensor(PinName emitter Pin, PinName reciever Pin, make sure it is from LEFT TO RIGHT
    lineSensor* sensorArray[6] = {new lineSensor(PB_9,A0),new lineSensor(PC_11,A1),new lineSensor(PD_2,A2),new lineSensor(PC_10,A3),new lineSensor(PB_8,A4),new lineSensor(PC_12,A5)};

    leftWheel->init(1);
    
    while(leftWheel->returnAngularVelocity()!= 0)
    {
     pc.printf("Stage 1, speed %f\r\n",leftWheel->returnAngularVelocity());
    }

    rightWheel->init(1);
    while(rightWheel->returnAngularVelocity() != 0)
    {
     pc.printf("Stage 2, speed %f\r\n",rightWheel->returnAngularVelocity()); 
    }
    pc.printf("L , speedM%f\r\n",leftWheel->returnMaxAngularVel());
    pc.printf("R , speedM %f\r\n",rightWheel->returnMaxAngularVel());
    
    Robot rbt(leftWheel, rightWheel, sensorArray);
    while(1)
    {
    }
    
}