File content as of revision 1:ab45b552644b:

#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.stop(0.5);
                 mB.stop(0.5);
                mA.speed(-.6);
                mB.speed(-.8); 
                led_front = 1;
                led_back = 0;
                led_front = 0;
                led_right = 0;
                mA.stop(0.5);
                 mB.stop(0.5);
                 }
                 else{
                     mA.speed(0.9);
                mB.speed(0.9);
                led_left = 1;
                led_back = 1;
                led_front = 1;
                led_right = 1;
                }
        }
}