File content as of revision 0:389040618ce2:

#include "mbed.h"
#include "ContinuousServo.h"
#include "Tach.h"
#include "TCS3472_I2C.h"

ContinuousServo left(p23);
ContinuousServo right(p26);
AnalogIn sonar(p19);
PwmOut LB(p22); // PWM out signal to power LED on the sensor
TCS3472_I2C rgb_sensor( p9, p10 ); // Establish RGB sensor object
DigitalOut hallpwr(p22);
DigitalIn hall(p21);
BusOut flash(LED1, LED2, LED3, LED4);
Ticker mine;
Ticker ultra;
Serial pc(USBTX,USBRX);

float wall = 100.0;
float analog;
float range;

int rgb_data[4]; // declare a 4 element array to store RGB sensor readings
float PWMbrightness = 1.0; // float specifying brightness of LED (between 0.0 and 1.0)
int x;
float a,b,c;

void update()
{
    a = 2.3*156.25*sonar.read();
    //pc.printf("%f\r\n", a);
    wait(0.01);
    b = 2.3*156.25*sonar.read();
    //pc.printf("%f\r\n", b);
    wait(0.01);
    c = 2.3*156.25*sonar.read();
    //pc.printf("%f\r\n", c);
    wait(0.01);
    wall = (a+b+c)/3.0;
    pc.printf("%f\r\n", wall);
}

void sweep()
{
    if(hall.read() == 1){
        flash = 8.0;
        wait(0.1);
        hallpwr = 0;
        }
        else{
            flash = 0.0;
            }
}
    
int main()
{
    ultra.attach(&update, 0.1);

    hall.mode(PullUp);
    hallpwr = 1;
    mine.attach(&sweep, 0.1);
    
    rgb_sensor.enablePowerAndRGBC(); // Enable RGB sensor
    rgb_sensor.setIntegrationTime(100); // Set integration time of sensor

    wait(3);

    while(wall>=6.9) { // main code for driving goes here
        //x = hall.read();
        //if(x == 1) {
        //    flash = 8.0;
        //    wait(0.25);
        //    x = 0;
        //} else if (x == 0){
        //    flash = 0.0;
        //}
        //x = hall.read();

        LB = PWMbrightness; // set brightness of sensor LED
        rgb_sensor.getAllColors( rgb_data );
        pc.printf("%d\r\n", rgb_data[1]);
        left.speed(.15);
        right.speed(-.25);
        if(rgb_data[1]<900) {
            left.speed(.1);
            right.speed(-.25);
        } else if(rgb_data[1]>1000) {
            left.speed(.19);
            right.speed(-.18);
        } else{
            left.speed(.15);
            right.speed(-.25);
        }
    }
    left.stop();
    right.stop();
}