File content as of revision 1:abed67ad1d03:

#include "mbed.h"
AnalogIn front_G(PC_0);
AnalogIn front_C(PC_1);
AnalogIn front_D(PC_2);

AnalogIn analog_left(A0);
AnalogIn analog_right(A1);
AnalogIn analog_front(A2);

//DigitalOut enable_right(D0);
//DigitalOut forward_right(PA_10,0);
//DigitalOut backward_right(PA_9,0);

//DigitalOut backward_left(PA_10,0);
//DigitalOut forward_left(PB_3,0);
//DigitalOut enable_left(D5);

PwmOut pwm_right(PB_4);
PwmOut pwm_left(PB_5);

int on_off = 0 ;
InterruptIn button(USER_BUTTON);

DigitalOut led(LED1);

void pressed()
{
    if (on_off == 0) {
        on_off = 1 ;
    } else {
        on_off = 0;
    }
}

int main()
{
    float front_meas;
    float left_meas;
    float right_meas;

    button.fall(&pressed);

    pwm_right.period_us(500);
    pwm_left.period_us(500);
    pwm_right.pulsewidth_us(0);
    pwm_left.pulsewidth_us(0);

   // backward_right.write(0);//ok
   // forward_right.write(1);//ko

 //   forward_left.write(1); //ok
  //  backward_left.write(0); //ok

    while(1) {
        /*
        if (on_off == 1 ) {
            led = 1;

            front_meas = analog_front.read();
            left_meas = analog_left.read();
            right_meas = analog_right.read();

            if (front_meas > 0.5) {
                if (left_meas > right_meas) {
                    backward_right.write(0);//ok
                    forward_right.write(1);//ko
                    forward_left.write(0); //ok
                    backward_left.write(1); //ok
                } else {
                    backward_right.write(1);//ok
                    forward_right.write(0);//ko
                    forward_left.write(1); //ok
                    backward_left.write(0); //ok
                }
            } else {
                if(left_meas < 0.5) {
                    forward_left.write(1); //ok
                    backward_left.write(0); //ok
                } else {
                    forward_left.write(0); //ok
                    backward_left.write(1); //ok
                }
                if(right_meas > 0.5) {
                    forward_right.write(0); //ok
                    backward_right.write(1); //ok
                } else {
                    forward_right.write(1); //ok
                    backward_right.write(0); //ok
                }
            }
            pwm_right.pulsewidth_us(200);
            pwm_left.pulsewidth_us(200);


        } else {
            led = 0;
            pwm_right.pulsewidth_us(0);
            pwm_left.pulsewidth_us(0);
        }*/
        wait(0.2); // 200 ms

    }
}