File content as of revision 3:de12b39ad805:

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

// Macros/Constants
#define MAX_VIEW_X 1600 // maximum X value input from camera
#define MAX_VIEW_Y 1200 // maximum Y value input from camera
#define CENTER_BOX_TOLLERANCE 200 // Size of our box
#define TO_SERVO_DIVISOR 3000.0 // Value to divide by to get the amount to move the servo by
#define NO_COLOR_MAX_COUNT 10
#define COLLISION_DIST .4
#define BLOB_CLOSE_DIST 200
#define SERVO_HOME .5
#define SERVO_HOME_TOL .2
#define SPEED_CONST 65535

// Hardware sensors and devices
DigitalOut myled(LED1);
DigitalOut myled2(LED2);
iRobot followMeBot(p9, p10);
Servo servoHor(p22);
Servo servoVer(p21);
AnalogIn irSensorFront(p15);
//AnalogIn irSensorLeft(p19);
//AnalogIn irSensorRight(p18);
Serial pc(USBTX, USBRX); // tx, rx
TextLCD lcd(p14, p16, p17, p18, p19, p20); // rs, e, d4-d7

// Software variables
char serial_rx_buffer[256]; // Input buffer for data from the PC
int xpos, ypos, blobArea; // 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 noColorCounter; // Counts how long it has been since we have seen a color to follow
bool colorLost; // boolean to represent if the color is confirmed "lost" (aka noColorCounter > NO_COLOR_MAX_COUNT)

// Function Prototypes
void getXYpos();
float moveCamera();
void moveBot();
int servoIsInHome();

int main()
{
    //followMeBot.start();
    //wait(1);
    while(1) {
        getXYpos();
        moveBot();
    }
}

/**
*   Moves the servo to move the camera based upon where the
*   color is located on the reported x and y
*
*/
float moveCamera()
{
    float temp = 0;
    if(xpos == 0) { // If we recieve a 0 for the location
        if(!colorLost && (++noColorCounter > NO_COLOR_MAX_COUNT)) { // Check to see if we have seen enough to consider the color lost
            servoHor = .5; // If the color is lost, return servo to home
            colorLost = true; // Set colorLost to true
            noColorCounter = 0; // Reset counter
        }
    } else if(!centerBox.is_touch(xpos, (MAX_VIEW_Y/2))) { // If we have a location
        noColorCounter = 0; // Reset counter
        colorLost = false; // We have found the color!
        temp = servoHor.read() - (centerBox.getCenterX() - xpos)/TO_SERVO_DIVISOR; // Calculate location to move servo to
        if(temp > 0 && temp <= 1) { // If the value is within the servo range
            servoHor = temp; // Set the servo equal to the position
            //sprintf(serial_rx_buffer, "%f\n", temp);
        }
        /*temp = servoVer.read() + ((float)centerBox.getCenterY() - (float)ypos)/TO_SERVO_DIVISOR;
        if(temp > 0 && temp <= 1) {
            servoVer = temp;
        }*/
    }
    //pc.puts(serial_rx_buffer);
    return temp; // return the servo position
}

// Will return the number of degrees to turn the irobot by
void getXYpos()
{
    char * temp;
    const char del = ';';
    if(pc.readable()) { // See if matlab has data for us
        myled = 1;
        pc.gets(serial_rx_buffer, 256); // Get position data
        pc.puts(serial_rx_buffer);
        temp = strtok(serial_rx_buffer, &del);
        xpos = atoi(temp); // Convert data to xposition int
        temp = strtok(NULL, &del);
        ypos = atoi(temp);
        temp = strtok(NULL, &del);
        blobArea = atoi(temp);
        lcd.cls();
        lcd.locate(0,0);
        lcd.printf("%d;%d", xpos, ypos);
        moveCamera(); // Move the camera
    } else {
        myled = 0;
    }
}

void moveBot()
{
    float irVal = irSensorFront;
    lcd.locate(0,1);
    if(!colorLost) {
        if(irVal > COLLISION_DIST && blobArea > BLOB_CLOSE_DIST) {
            //followMeBot.stop();
            lcd.printf("stop");
        } else if(servoIsInHome() > 0) {
            //followMeBot.right();
            lcd.printf("right");
        } else if(servoIsInHome() < 0) {
            //followMeBot.left();
            lcd.printf("left");
        } else {
            //followMeBot.changeSpeed(SPEED_CONST/(blobArea/100));
            //followMeBot.forward();
            lcd.printf("for sp: %d", (SPEED_CONST/(blobArea/100)));
        }
    }
    else{
        lcd.printf("Color Lost");
    }
}

int servoIsInHome()
{
    if(servoHor.read() > SERVO_HOME + SERVO_HOME_TOL) {
        return 1;
    } else if(servoHor.read() < SERVO_HOME - SERVO_HOME_TOL) {
        return -1;
    } else {
        return 0;
    }
}