File content as of revision 5:50887f863c01:

#include "mbed.h"
#include "motordriver.h"
//#include "SHARPIR.h"
#include "uLCD_4DGL.h"

Motor mA(p22, p6, p5, 1); // pwm, fwd, rev
Motor mB(p23, p8, p7, 1); // pwm, fwd, rev


Serial pc(USBTX, USBRX); // tx, rx
DigitalOut led_back(p16); // test led for Back_sensor
DigitalOut led_left(p15); // test led for Back_sensor
DigitalOut led_right(p14); // test led for Back_sensor
DigitalOut led_front(p13); // test led for Back_sensor

AnalogIn irBack_ain(p18);
AnalogIn irFront_ain(p17);
AnalogIn irLeft_ain(p20);
AnalogIn irRight_ain(p19);

//SHARPIR sensor_back(p18); //the output of the sharpIR sensor is connected to the MBEDs pin 10.

//uLCD_4DGL uLCD(p28, p27, p29); // create a global lcd object

//speed => 1 = forward, -1 = reverse ... range from -1 to 1

int main() {
    //uLCD.cls();
     float backsensor = 0.0;
     float frontsensor = 0.0;
     float leftsensor = 0.0;
     float rightsensor = 0.0;
     int sensor = 0;
    while(1){
        
        
        
        
        
        //float backsensor = sensor_back.cm();
        
        backsensor = irBack_ain * 100;
//        pc.printf("FRONT Sensor is: %f \n", backsensor);
        frontsensor = irFront_ain * 100;
        leftsensor = irLeft_ain * 100;
        rightsensor = irRight_ain * 100;
        //pc.printf("Front Sensor is: %f \n", frontsensor);
//        pc.printf("Left Sensor is: %f \n", leftsensor);
//        pc.printf("Right Sensor is: %f \n", rightsensor);
              
        if((frontsensor > 52)&&(frontsensor < 100)){
              mA.speed(-.6);
                mB.speed(-.8);   
                wait(1);
              led_front = 1;
              }
              else {led_front= 0;}

              if((backsensor > 52)&&(backsensor < 100)){
                  
            led_back = 1;}
            else {led_back = 0;}

          if((leftsensor > 52)&&(leftsensor < 100)){
            led_left = 1;}
            else {led_left = 0;}

          if((rightsensor > 52)&&(rightsensor < 100)){
            led_right = 1;}
          else {led_right = 0;}
                mA.speed(-.2);
                mB.speed(-.2); 


        }
}