File content as of revision 1:60c79e942c98:

#include "mbed.h"
#include "HCSR04.h"
#include "SRF05.h"
#include "gyro.h"
SRF05 Usound1(p26,p15);
HCSR04 Usound2(p25,p16);
Ticker t1;

extern Motor M1;
extern Motor M2;

int n=0;
int turns=0;
void enable1();
void enable2();
void turnR()
{
    M1=1;M2=-1; //右转90
    wait(0.75);   
    }
void turnL()
{
    M1=-1;M2=1; //左转90
    wait(0.75);
    }
void distancedetectL()
{
    float u= Usound1.read();
    if(7<=u<=20)  {
        n+=1;
        if (n>=3) {
            turnL();
            change(90);
            driveit();
            n=0;
            enable2();
        }
    }
}
void distancedetectR()
{
    float u= Usound2.read_cm();
    if(30<=u)  {
        n+=1;
        if (n>=3) {
            turns+=1;
            turnL();
            if(turns>=3) {
                t1.detach();
                M1=0.5;M2=0.5;
                wait(3);
                M1=0;M2=0;
            } else {
                turnR();
                change(-90);
                driveit();
                n=0;
                enable1();
            }
        }
    }
}
void enable1()
{
   M1=0;M2=0;
   /* t1.detach();
    t1.attach(&distancedetectR,0.4);*/
}
void enable2()
{
    t1.detach();
    t1.attach(&distancedetectL,0.4);
}