File content as of revision 1:6c399fc35deb:

#include "mbed.h"
#include "iRobot.h"
#include "Servo.h"
#include "Rectangle.h"

// Macros/Constants
#define MAX_VIEW_X 1024 // maximum X value input from camera
#define MAX_VIEW_Y 1024 // maximum Y value input from camera
#define CENTER_BOX_TOLLERANCE 15 // Size of our box
#define TO_SERVO_DIVISOR 100.0 // Value to divide by to get the amount to move the servo by

// Hardware sensors and devices
DigitalOut myled(LED1);
iRobot followMeBot(p9, p10);
Servo servoHor(p22);
Servo servoVer(p21);
AnalogIn irSensorFront(p20);
AnalogIn irSensorLeft(p19);
AnalogIn irSensorRight(p18);
Serial pc(USBTX, USBRX); // tx, rx

// Software variables
char serial_rx_buffer[128]; // Input buffer for data from the PC
int xpos, ypos; // x and y positions read from matlab
Rectangle centerBox((MAX_VIEW_X/2)+CENTER_BOX_TOLLERANCE, (MAX_VIEW_Y/2)+CENTER_BOX_TOLLERANCE,
                    (MAX_VIEW_X/2)-CENTER_BOX_TOLLERANCE,(MAX_VIEW_Y/2)-CENTER_BOX_TOLLERANCE); // Creates a box to examine if the camera is well enough centered

int main()
{
    followMeBot.start();

    while(1) {
    }
}

void moveCamera()
{
    if(!centerBox.is_touch(xpos, ypos)) {
        float temp;
        temp = servoHor.read() + ((float)centerBox.getCenterX() - (float)xpos)/TO_SERVO_DIVISOR;
        if(temp > 0 && temp <= 1) {
            servoHor = temp;
        }
        temp = servoVer.read() + ((float)centerBox.getCenterY() - (float)ypos)/TO_SERVO_DIVISOR;
        if(temp > 0 && temp <= 1) {
            servoVer = temp;
        }
    }
}