File content as of revision 0:d341b3ad1e2e:

#include "mbed.h"
#include "rtos.h"
#include "Motor.h"
#include "HALLFX_ENCODER.h"
//#include "SDFileSystem.h"
//#include "wave_player.h"

class microphone
{
public :
    microphone(PinName pin);
    float read();
    operator float ();
private :
    AnalogIn _pin;
};
microphone::microphone (PinName pin):
    _pin(pin)
{
}
float microphone::read()
{
    return _pin.read();
}
inline microphone::operator float ()
{
    return _pin.read();
}


// Declare Components

//Adafruit MEMs SPW2430 microphone demo - LEDs display audio level
BusOut myleds(LED1,LED2,LED3,LED4);
microphone mymicrophone(p16);
Mutex movement_mutex;
Motor left_motor(p26,p24,p25); // pwm, fwd, rev  
Motor right_motor(p21, p23, p22); // pwm, fwd, rev
HALLFX_ENCODER hall_left(p13);
HALLFX_ENCODER hall_right(p14);
AnalogIn IRSound(p17);



// Robot functions
/* For debugging IR sensor
void IRsoundRead() {
        distance = IRSound.read();
        if (distance >= 0.0f && distance <= .5f/3.3f) { // Furthest away
            myleds = 1;
        } else if (distance >= .5f/3.3f && distance <= .75f/3.3f) {
            myleds = 3;   
        } else if (distance >= .75f/3.3f && distance <= 1.25f/3.3f) {
            myleds = 7; 
        } else if (distance >= 1.25f/3.3f ) { // closest
            myleds = 15;
            tooClose = 1;
        }
} 
*/
// forward
void forward( float vol ){
    long diff = hall_left.read()-hall_right.read();
    float k = 0.8;
    if (diff < 0) { // left has moved less than right
        left_motor.speed(vol);
        right_motor.speed(k*vol);
    }else if (diff > 0)  { // right has moved less than left
        left_motor.speed(k*vol);
        right_motor.speed(vol); 
    } else {
        left_motor.speed(vol);
        right_motor.speed(vol);
    }
}

// spin
void panicSpin() {
    //Spin really scaredly
    left_motor.speed(1);
    right_motor.speed(-1);
    Thread::wait(2000);
    
    //Try to avoid ojbect
    left_motor.speed(0.5);
    right_motor.speed(-0.5);    
    while(IRSound.read()>= 1.25f/3.3f ) {};
    Thread::wait(100);
    forward(0);    
}


// Listen mic Function (Continuous, thread)
float listen() {
    //read in sample value using AC coupled input option
    float sample = mymicrophone;
    
    int a = int(abs((sample-0.5)*300.0));
    if (a < 15 ) {
          myleds = a;
    } else {
         myleds = 12;
    }
    //myleds = int(abs((sample-0.5)*300.0)); //scale to around 15 for LEDs
    return abs((sample-0.5)*300.0/15.0);
}

// IRsound Function (Continuous, thread)
// When run everything else supspended
void ActScared(void)
{
    Thread::wait(1000);
    float loudnessBuffer[10] = {0,0,0,0,0,0,0,0,0,0};
    float volume = 0, currentVal = 0;
    int i = 0;
    //float speed = 0;
    while(1) {
        currentVal = listen();
        volume += (currentVal-loudnessBuffer[i])/10;
        loudnessBuffer[i] = currentVal;
        i++;
        if (i==10) {i=0;}
        if(2.0*volume>0.1){
            movement_mutex.lock();
            forward(1);
            movement_mutex.unlock();
        } else {
            hall_left.reset(); hall_right.reset();
            movement_mutex.lock();
            forward(0.1);
            movement_mutex.unlock();
        }
        Thread::wait(100);
        /**/
    }
}

void AvoidObject(void)
{
    Thread::wait(500);
    float closenessBuffer[10] = {0,0,0,0,0,0,0,0,0,0};
    float closeness = 0, currentVal = 0;
    int i = 0;
    while(1) {
        // average 10 values over 1 seconds.
        currentVal = IRSound.read();
        closeness += (currentVal-closenessBuffer[i])/10;
        closenessBuffer[i] = currentVal;
        i++;
        if (i==10) {i=0;}
        //float distance = IRSound.read();
        movement_mutex.lock();
        if (closeness >= 1.0f/3.3f ) { // close object detected
            for (int j = 0; j < 10; j++) {
              closenessBuffer[j] = 0;  
            }
            closeness = 0;
            forward(0);
            Thread::wait(250);            
            panicSpin();
        }
        movement_mutex.unlock();
        Thread::wait(50);
    }
}

int main()
{
    Thread t2(ActScared);
    while(1) {       
        AvoidObject();
    }
}