File content as of revision 0:efc7a2c2f18e:

#include "mbed.h"
#include "motordriver.h"
#include "RIT.h"

AnalogIn L_IR1(p15);      // Analog In Pin
AnalogIn L_IR2(p16);      // Analog In Pin
AnalogIn L_IR3(p17);      // Analog In Pin
AnalogIn R_IR3(p18);      // Analog In Pin
AnalogIn R_IR2(p19);      // Analog In Pin
AnalogIn R_IR1(p20);      // Analog In Pin

DigitalOut LLED(p7);   // Digital Out Pin
DigitalOut RLED(p8);

DigitalOut L_IRLED1(p9);    // Digital Out Pin
DigitalOut L_IRLED2(p10);   // Digital Out Pin
DigitalOut L_IRLED3(p11);   // Digital Out Pin
DigitalOut R_IRLED3(p12);   // Digital Out Pin
DigitalOut R_IRLED2(p13);   // Digital Out Pin
DigitalOut R_IRLED1(p14);   // Digital Out Pin

Motor L_Motor(p25, p22, p21, 1); // pwm, fwd, rev, can break
Motor R_Motor(p26, p24, p23, 1); // pwm, fwd, rev, can break


Serial serial(USBTX,USBRX); // Tx, Rx Pin


volatile uint32_t rithits = 0;       //timer1 stops when timer1hits==imer1loop

Timer rit_timing;

void RIT_IRQHandler(void) 
{
    //Flash Led.
    L_IRLED1=!L_IRLED1;
    L_IRLED2=!L_IRLED2;
    L_IRLED3=!L_IRLED3;
    R_IRLED3=!R_IRLED3;
    R_IRLED2=!R_IRLED2;
    R_IRLED1=!R_IRLED1;
            
    //Count Hits.
    rithits++;
}

RIT rit(1); //10ms

int main() 
{
    LLED=1; 
    RLED=1;
    int data[6];
    bool sensor[6]={0,0,0,0,0,0};

    
    serial.baud(115200);
    rit.setup_us(10);

    rit.append(RIT_IRQHandler);

    rit_timing.start();
    rit.enable();
               
    while(1) 
    {
        data[0] = L_IR1 * 100;                   // ain (0.0 ~ 1.0)
        data[1] = L_IR2 * 100;                   // ain (0.0 ~ 1.0)
        data[2] = L_IR3 * 100;                   // ain (0.0 ~ 1.0)
        data[3] = R_IR3 * 100;                   // ain (0.0 ~ 1.0)
        data[4] = R_IR2 * 100;                   // ain (0.0 ~ 1.0)
        data[5] = R_IR1 * 100;                   // ain (0.0 ~ 1.0)
         
        serial.printf("| %03d | %03d | %03d | %03d | %03d | %03d |\n", data[0], data[1], data[2], data[3], data[4], data[5]);   // mbed -> PC, data(0~100)

        for(int i=0; i < 6; i++)
        {
            sensor[i] = data[i] > 90 ? 0 : 1;
        }
   

        if(sensor[0] == 1 || sensor[1] == 1 || sensor[2] == 1)
        {   //Left
            L_Motor.speed(0.3);
            R_Motor.speed(0.7);
            LLED = 1; RLED = 0;   
        }
        else if(sensor[4] == 1 || sensor[5] == 1 || sensor[6] == 1)
        {
            //Right
            L_Motor.speed(0.7);
            R_Motor.speed(0.3);
            LLED = 0; RLED = 1;
        }
        else
        {
            L_Motor.speed(0.3);
            R_Motor.speed(0.3);
            LLED = 0; RLED = 0;        
        }
    }
    
    rit.unappend();rit.append(RIT_IRQHandler);
    rit.disable();
    rit_timing.stop();

    rit_timing.start();
    rit.enable();
}