File content as of revision 1:9eb8d4e6a719:

#include "mbed.h"       //includes this library for all mbed functions
#include "TCS3472_I2C.h"        //includes the library for the RGB sensor
#include "Motor.h"
AnalogIn sonic(p15);
Motor R(p24, p25, p26);
Motor L(p21, p22, p23);

float data;         //ULTRASONIC SENSOR
float sum;
float average;
int p;
int count;

PwmOut RGBsensorLED(p22);       //established pin to power the LED on the sensor
TCS3472_I2C RGBsensor(p9, p10);     //establishes pins for the RGB sensor.


Serial pc(USBTX, USBRX);        //establishes a serial port in order to communicate with TeraTerm and LATLAB

int main()      //starts the program
{

    int RGB_data[4];        //declares an array to store the data read from the RGB sensor
    float PWMbrightness = 1.0;      //declares float for LED brightness

    RGBsensor.enablePowerAndRGBC();     //enables RGB sensor
    RGBsensor.setIntegrationTime(100);      //sets the intergration time of the RGB sensor
    RGBsensorLED = PWMbrightness;       //set brightness of sensor LED
    pc.baud(921600);        //sets the baud rate of the serial connection

    while (1) {     //loops the program until is broken
        data=sonic.read();
        sum=0;
        for(p=0; p<=50; p++) {
            sum =sum+data;
        }
        average= sum/50;
        printf(" average is %f \n",average);

        if(average> 0.026) {
            int colorcount[3] = {0,0,0};      //establishes an array for the possible regions the car is in
            int scan = 0;       //variable for for loop

            for (scan=0; scan<10; scan+=1) {

                RGBsensor.getAllColors(RGB_data);       //read data from sensor for red, green, and blue along with magnitude

                int light = RGB_data[0];        //sets a variable for the light data so I don't have to type that every time
                int red = RGB_data[1];      //sets a variable for the red data so I don't have to type that every time
                int green = RGB_data[2];        //sets a variable for the blue data so I don't have to type that every time
                int blue = RGB_data[3];     //sets a variable for the green data so I don't have to type that every time

                if ( (abs((1.6822*red + 15.609)-light) < 10) && (abs((4.2525*green - 37.993)-light) < 10) && (abs((6.5565*blue - 44.793 )-light) < 10) ) {
                    colorcount[0] += 1;     //car is in red
                    L.speed(0.0);
                    R.speed(0.2);
                }

                if ( (abs((3.7757*red - 134.86)-light) < 10) && (abs((3.4282*green - 8.791 )-light) < 10) && (abs((2.5685*blue + 63.205)-light) < 10) ) {
                    colorcount[1] += 1;     //car is in blue
                    R.speed(0.5);
                    L.speed(0.5);
                }

                if ( (abs((3.8225*red - 138.09)-light) < 10) && (abs((2.1032*green + 39.654)-light) < 10) && (abs((5.3619*blue - 2.7884)-light) < 10) ) {
                    colorcount[2] += 1;     //car is in green
                    L.speed(0.2);
                    R.speed(0.0);
                }
            }
            if (colorcount[0] >= 7) {       //data reads in the red
                pc.printf("Making a right turn. \n");        //print to tera term

            }
            if (colorcount[1] >= 7) {       //data reads in the blue
                pc.printf("Driving straight. \n");        //print to tera term

            }
            if (colorcount[2] >= 7) {       //data reads in the green
                pc.printf("Making a left turn. \n");        //print to tera term

            }
        }
        if ((average> 0.014) && (average < 0.026)) {

            L.speed(0.2);
            R.speed(0.2);
            printf("%f \n",average);
        }
        if(average< 0.014) {
        wait(0.1);
            L.speed(0.0);
            R.speed(0.0);
        }
    }

}