File content as of revision 0:4c7c138f3891:

///////////////////////////////////////OGATA//////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////
//センサの数
#define COLOR_NUM 6

//閾値
#define R_THR 65
#define G_THR 65
#define B_THR 65
#define PINR_THR 2000


enum{
    GO,
    STOP
};

//TextLCD lcd(p30, p29, p28, p27, p26, p25, TextLCD::LCD20x4); // rs, e, d4-d7
ColorSensor color0(p20, p17, p18, p19, 10);
ColorSensor color1(p16, p13, p14, p15, 10);
ColorSensor color2(p12, p9, p10, p11, 10);
ColorSensor color3(p8, p5, p6, p7, 10);

ColorSensor color4(p24, p21, p22, p23, 10);
ColorSensor color5(p30, p25, p26, p29, 10);
//ColorSensor color4(p26, p23, p24, p25, 10);
//ColorSensor color5(p30, p27, p28, p29, 10);

Serial pc(USBTX, USBRX);    // tx, rx 
DigitalOut led[4] = {LED1,LED2,LED3,LED4};
//DigitalOut air[2] = {p7,p8};


//Servo myservo1(p21);
//DigitalIn sw1(p22);



Timer color_t[COLOR_NUM];
Timer jump_t;
Ticker interrupt0;


void rivisedate ();
void colorUpdate (uint8_t mode);
uint16_t moving_ave(uint8_t num, uint16_t data);
uint8_t robotFront();
uint8_t jumpInstruction(uint8_t front);
uint8_t robotoStop();


double proportional = 0;
uint16_t com_val = 0;
unsigned redp[COLOR_NUM], greenp[COLOR_NUM], bluep[COLOR_NUM];
double rir,rib ;



enum{
    WAIT,
    STRAIGHT,
    TURN,
    COMP
};