File content as of revision 1:cf9ba941d8c2:

#include "mbed.h"
#include "ContinuousServo.h"
#include "Tach.h"
Serial pc(USBTX,USBRX);

//sonar sensor
AnalogIn sonar(p19); //range sensor 9.8mV/inch
//servo
ContinuousServo left(p23);
ContinuousServo right(p26);
//encoders
Tach tLeft(p17,64);
Tach tRight(p13,64);
int main()
{
    while(1) {
        float distance;
        float stop_val;
        int stop_dist;
        int num_iterations;
        int i;

        pc.scanf("%d,%d",&num_iterations,&stop_dist);//reads in values from the Matlab
        for(i=1; i<=num_iterations; i++) { //will go until it meets the number of iterations

            distance = sonar.read();      //takes the sensor redings and converts them to "distance" variable
            stop_val=.00275*stop_dist;    //takes the input desired stop distance and multiplies it by a constant to achieve a stop value

            if(distance>stop_val) { //if distance is greater than desired stopping, then keep driving forward
                left.speed(.5);
                right.speed(.5);
            } else {                 //else stop left and right wheels
                left.stop();
                right.stop();
            }
            wait(0.1);
            pc.printf("%f\n",distance);//mbed send out float values for Matlab
        }
    }
}