File content as of revision 9:a543d0cdfce9:

#include "mbed.h"
#include "Servo.h"

#define DISTANCE 0.45


Serial pc (USBTX, USBRX); // USB serial interface

Servo ServoRight(p21); // continuous rotation hobby servo right
Servo ServoLeft(p22); // continuous rotation hobby servo left

PwmOut LEDleft(p23);
PwmOut LEDright(p24);

AnalogIn IRfront(p15);
AnalogIn IRleft(p16);
AnalogIn IRright(p17);
AnalogIn LDRleft(p18);
AnalogIn LDRright(p19);

void init_servo() {
    // calibrate the servos for +/-5ms over +/-45deg
    ServoRight.calibrate(0.0005,45);
    ServoLeft.calibrate(0.0005,45);
}

int main() {
    float front;
    float left;
    float right;
    float LDRvalueleft;
    float LDRvalueright;

     // set the USB serial interface baud rate
     pc.baud(921600);
     init_servo();

 while(1) {
    
    // Auto drive : the car will avoid all obstacles aroiund it and get away from them
    front = IRfront.read();
    left  = IRleft.read();
    right = IRright.read();
    LDRvalueright = LDRright.read();
    LDRvalueleft = LDRleft.read();       //output voltage of the LDR used for line following feature
    
   /*****************************************************************************
   / if (front > DISTANCE) {           Collision avoidance system only,the robot will move away from an obstacle/wall if getting to close to it
    /    if (left > DISTANCE) {
    /        ServoRight.write(0.5);   //turn right
    /        ServoLeft.write(0.4);
    /    } else {
    /        ServoRight.write(0.6);   // turn left
    /        ServoLeft.write(0.5);    
    /    }
    / } else if (left > DISTANCE) {
    /    if (right < DISTANCE) {
    /        ServoRight.write(0.5); // right
    /        ServoLeft.write(0.4);
    /    } else {
    /        ServoRight.write(0.6); // forward    
    /        ServoLeft.write(0.4);
    /    }
    / }
   /*****************************************************************************/
    //Turn both LED's on for the line following feature
    LEDleft=1;
    LEDright=1;
    
    // send the servo command to the servos themselves
    //ServoRight.write(0.6); // write to the continuous rotation servo1
   // ServoLeft.write(0.4); // write to the continous servo2
   
   if (front > DISTANCE) {
       // turn right
       ServoRight.write(0.5); // stop servoright
       ServoLeft.write(0.4); // turn on servoleft 
       wait(2.0); //wait 2 seconds to allow the robot to turn approximately 90 degrees
       if (left > DISTANCE) {
           // keep going straight for 1 second
           ServoRight.write(0.6); // write to the continuous rotation servo1
           ServoLeft.write(0.4); // write to the continous servo2
           wait(1.0);
       } else {
           // turn left 90 degrees
           ServoRight.write(0.5);
           ServoLeft.write(0.4);
           wait(2.0); // wait 2 seconds to allow the robot to turn approx. 90 degrees
           ServoRight.write(0.6); //go straight for 1 second
           ServoLeft.write(0.4);
           if (left > DISTANCE) {
           //keep going straight for 1 second
           ServoRight.write(0.6);
           ServoLeft.write(0.4);
           wait(1.0);      //wait for 1 second
           } else {
               // turn left 90 degrees
               ServoRight.write(0.6);
               ServoLeft.write(0.5);
               wait(2.0);     //wait 2 seconds to allow robot to turn 90 degrees
               }     
           }
           
         

    }
}