File content as of revision 1:813f4b17ae65:

#define PI 3.141

#include "math.h"
#include "mbed.h"
#include "QEI.h"
#include "Encoder.h"
#include "P.h"
#include "Wheel.h"
#include "Robot.h"
#include "lineSensor.h"


//blue D8
//Green D9
//Red D5

    Ticker sampler;
    DigitalOut enable(PA_13);
    DigitalOut led(PA_5);
    
    Encoder* LE = new Encoder(PB_10,PB_4);
    Encoder* RE = new Encoder(PB_3,PB_5);
    Wheel* leftWheel = new Wheel(LE,PC_8,PA_9, PA_14);
    Wheel* rightWheel = new Wheel(RE,PC_6,PA_8, PA_7);
    Robot rbt(leftWheel, rightWheel);
    
    
    //an array of lineSensor pointers params: lineSensor(PinName emitter Pin, PinName reciever Pin)
    lineSensor* sensorArray[6] = {new lineSensor(D11,A0),new lineSensor(D7,A1),new lineSensor(D6,A2),new lineSensor(D5,A3),new lineSensor(D4,A4),new lineSensor(D3,A5)};
    int i = 0;
    
    void sensorReadings(void)
    {
        sensorArray[i]->takeReading();
        if (sensorArray[i]->returnLineVoltage() >= 1.5f)
        {
            led.write(0); 
        } else { led.write(1);}
        i++;
        if (i == 6) {i=0;}     
    }

int main() {
    enable.write(1);
    leftWheel->init(1);
    rightWheel->init(0);
    
    sampler.attach(callback(sensorReadings),0.1);
    while(1){}

}