File content as of revision 1:5d958973e71a:

#include "mbed.h"
//CNY70
DigitalIn CNY_1 (PA_12);
DigitalIn CNY_2 (PB_2);
DigitalIn CNY_3 (PC_6);
DigitalIn CNY_4 (PB_12);

// Moteur 1
DigitalOut INA1(PA_10);
DigitalOut INB1(PB_3);
DigitalOut EN1(PB_10);
PwmOut PWM1(PB_14);
 
// Moteur 2
DigitalOut INA2(PA_8);
DigitalOut INB2(PA_9);
DigitalOut EN2(PA_6);
PwmOut PWM2(PB_13);

DigitalIn Jack (PB_15, PullUp);

void init_moteur() ;

 
#define vitesse 0.2
 
bool flag=0;



void init_moteur() {
    
   EN1=1;
   INA1 = 0;
   INB1 = 0;
   PWM1.period(0.00005);   // 20 kHz (valid 0 - 20 kHz)
   PWM1.write(0);
   EN2=1;
   INA2 = 0;
   INB2 = 0;
   PWM2.period(0.00005);   // 20 kHz (valid 0 - 20 kHz)
   PWM2.write(0);
   }

int main() 
{
 


init_moteur();
      while (true) 
      {
        if (Jack==1){
            if (CNY_1==1 and CNY_2==1 and CNY_3==1 and CNY_4==1 and flag==0){
                INA1 = 1;
                INB1 = 0;
               INA2 = 0;
               INB2 = 1;
               PWM1.write(vitesse);
               PWM2.write(vitesse);
               flag=1;   
               wait (0.3);
               PWM1.write(0);
               PWM2.write(0);
            } 
            if (CNY_1==0 and CNY_2==0 and CNY_3==0 and CNY_4==0 and flag==0){
                INA1 = 0;
                INB1 = 1;
                INA2 = 1;
                INB2 = 0;
                PWM1.write(vitesse);
                PWM2.write(vitesse+0.005);
            }
        }
        
        
      }
  
}