File content as of revision 3:0221daeeaa86:

#include "mbed.h"
#include "CMPS03.h"
#include "CNY70.h"
#include "GP2A.h"
#include "RC_Servo.h"
#include "VMA306.h"
#include "Pixy.h"

Serial      pc          (PA_2, PA_3, 921600);

CMPS03      boussole    (PC_4);

CNY70       ligneD      (PC_3);
CNY70       ligneG      (PC_2);
CNY70       exterior    (PA_7);

GP2A        ld1         (PA_4, 20, 150, 55);
GP2A        sd1         (PB_0, 5, 80, 10);

RC_Servo    ballon      (PB_10, 0);
RC_Servo    verrou      (PA_15, 0);

VMA306      UltraSon    (PB_15, PA_6, PB_14, PC_7, PB_13, PB_2);

PIXY        Pixy        (PA_0, PA_1, 230400);

DigitalOut  led1        (PA_5);
DigitalOut  led2        (PD_2);
DigitalOut  disquette   (PA_12);

main ()
{
    int                 sens = 1, nbiter = 0, nbCC, nbNM;
    double              pos = 0.5;
    T_pixyCCBloc        CCBuf;
    T_pixyNMBloc        NMBuf;

    pc.printf ("\n\rHelloWorld\n");
    led1 = 1;
    led2 = 0;
    disquette = 0;

    wait (5);

    while (1) {
        pc.printf ("\rCap = %5.2lf\n", boussole.getBearing());

        if (exterior.whatAmIOn())   pc.printf("\rwhite");
        else                        pc.printf("\rblue ");
        if (ligneG.whatAmIOn())     pc.printf("\r\twhite");
        else                        pc.printf("\r\tblue ");
        if (ligneD.whatAmIOn())     pc.printf("\r\t\twhite\n");
        else                        pc.printf("\r\t\tblue\n");

        pc.printf ("\r%4.3lf\t %4.3lf\t %4.3lf\n", exterior.getVoltage(), ligneG.getVoltage(), ligneD.getVoltage());

        pc.printf("\rGP2 longue distance = %5.2f\n",ld1.getDistance ());
        pc.printf("\rGP2 courte distance = %5.2f\n",sd1.getDistance ());

        pc.printf("\rpos = %2.1lf\n",pos);
        ballon.write (pos);
        verrou.write (pos);
        nbiter++;
        if (nbiter%5==0) {
            if (sens) {
                pos += 0.1;
                if (pos>0.9) sens = 0;
            } else {
                pos-=0.1;
                if (pos<0.1) sens = 1;
            }
        }

        if (UltraSon.isUSGReady())     pc.printf ("\rusG = %5.2lf -", UltraSon.readUSG());
        if (UltraSon.isUSBReady())     pc.printf ("\r\t\t usB = %5.2lf -", UltraSon.readUSB());
        if (UltraSon.isUSDReady())     pc.printf ("\r\t\t\t\t usD = %5.2lf", UltraSon.readUSD());
        pc.printf ("\n");

        if (Pixy.checkNewImage()) {
            Pixy.detectedObject (&nbNM, &nbCC);
            pc.printf ("\rnbCC = %2d - nbNM = %2d\n", nbCC, nbNM);
            while (nbCC > 0) {
                CCBuf = Pixy.getCCBloc ();
                nbCC--;
                pc.printf ("\rCC %5d : x=%5d, y=%5d - w=%5d, h=%5d, a=%5d\n", CCBuf.signature, CCBuf.x, CCBuf.y, CCBuf.width, CCBuf.height, (short)CCBuf.angle);
            }
            while (nbNM > 0) {
                NMBuf = Pixy.getNMBloc ();
                nbNM--;
                pc.printf ("\rNM %4x : x=%5d, y=%5d - w=%5d, h=%5d\n", NMBuf.signature, NMBuf.x, NMBuf.y, NMBuf.width, NMBuf.height);
            }
        }

        pc.printf ("\n");
        led1 = !led1;
        led2 = !led2;
        wait (0.2);
    }
}