File content as of revision 0:46d75bfc2492:

//Satre Gagnon, Ewing, Batten 
//Drive Straight 

#include "mbed.h"
#include "ContinuousServo.h"
#include "Tach.h"
#include "TCS3472_I2C.h"
 
// color sensor
DigitalOut hallpwr(p22); //PWM out signal to power LED on the sensor
DigitalIn hall(p21);
TCS3472_I2C rgb_sensor(p9, p10); // Establish RGB sensor object
Serial pc(USBTX,USBRX); //Establish serial connection
int rgb_data[4]; //store sensor readings
 
//lights for colors
DigitalOut red(LED1);
DigitalOut green(LED2);
DigitalOut blue(LED3);
DigitalOut lightmag(LED4);

//speed
float wL, wR;
float x = 0.3, y = -0.3, dist, realdist;
 
ContinuousServo left(p23);
ContinuousServo right(p26);
 
//encoders
Tach tLeft(p17,64);
Tach tRight(p13,64);
 
int main()
{ 
    rgb_sensor.enablePowerAndRGBC(); //Enable RGB sensor
    rgb_sensor.setIntegrationTime(100); //Set integration time of sensor
    
    wL = tLeft.getSpeed(); //speed of left wheel (rev/sec)
    wR = tRight.getSpeed(); //speed of right wheel (rev/sec)
    
    pc.baud(9600); //set baud rate
    float PWMbrightness = 1.0; //float specifying brightness of LED (between 0.0 and 1.0)
    
    while(1) {
        
        left.speed(x);
        right.speed(y); //right negative to go forward
        
        hallpwr = PWMbrightness; //set brightness of sensor LED
        rgb_sensor.getAllColors(rgb_data);
        
        if ((rgb_data[0] > 10000))
        {
            blue = 0;
            green = 0;
            red = 0;
        }
        
        else if ((rgb_data[1] > rgb_data[2]) && (rgb_data[1] > rgb_data[3]) )
        {
            red = 1;
            green = 0;
            blue = 0;
        }
        else if ((rgb_data[2] > rgb_data[1]) && (rgb_data[2] > rgb_data[3]) )
        {
            if(rgb_data[2] > 1100)
            {
            green = 1;
            red = 0;
            blue = 0;
            }
            else
            {
            green = 0;
            red = 0;
            blue = 0;  
            }
        }
            
        else if ((rgb_data[3] > rgb_data[2]) && (rgb_data[3] > rgb_data[1]) )
        {
            blue = 1;
            green = 0;
            red = 0;
        }
        if (hall == 1){
            lightmag = 1;
            printf("BOMB DETECTED");
        }
        else if (hall == 0){
            lightmag = 0;
        }
        if (wL<wR) {
            x = x+0.01;
            y = y; }
        else if (wR<wL) {
            x = x-0.01;
            y = y;}
        else if (wR == wL) {
            x = x;
            y = y;
        }
        if (realdist <= 8) {
            left.stop();
            right.stop();
            } 
        if ((rgb_data[0] > 9000))
        {
            x = x;
            y = 0;
        }
        if ((rgb_data[0] < 800))
        {
            x = x;
            y = 0;
        }
          
        
        printf("unfiltered: %d, red: %d, green: %d, blue: %d \n", rgb_data[0], rgb_data[1], rgb_data[2], rgb_data[3]);
     
}  //while
}  //main