File content as of revision 0:bc1f87f34e45:

#include "mbed.h"
#include "ta7291p.h"
#include "Ping.h"

//超音波センサー
#define SAFE_DISTANCE 80.0
#define TURN_DISTANCE 60.0
#define STOP_DISTANCE 40.0

//モータードライバー
#define FAST_SPEED 1.0
#define NORMAL_SPEED 0.7
#define TURN_SPEED 0.4
#define SLOW_SPEED 0.2

ta7291p mortor1(p25,p24,p26);
ta7291p mortor2(p22,p21,p23);
Ping Pinger(p30);


int main() {
    int i;
    float range;
    
    while(1) {
        Pinger.Send();    
        wait_ms(30);
        range = Pinger.Read_cm()/2.0;
        printf("range = %f\r\n",range);
        //wait(1.0);
        
        if(range <= STOP_DISTANCE){
                                printf("ok1\r\n");
                                mortor1.rotstop();
                                mortor2.rotstop();
                                wait(2.0);
                                
                                for(i=0; i<100; i++)
                                {
                                    mortor1.rotf(NORMAL_SPEED);
                                   // mortor2.rotf(FAST_SPEED);
                                   //mortor2.rotb(FAST_SPEED);
                                    wait_ms(30);
                                }
                                }
        /*else if( (range > STOP_DISTANCE) && (range <= TURN_DISTANCE) ){
                                printf("ok2\r\n");
                                mortor1.rotf(NORMAL_SPEED);
                                mortor2.rotf(TURN_SPEED);
                                
                                }*/
        else if( (range > TURN_DISTANCE) && (range <= SAFE_DISTANCE) ){
                                printf("ok3\r\n");
                                mortor1.rotf(NORMAL_SPEED);
                                mortor2.rotf(NORMAL_SPEED);
                                //mortor1.rotb(NORMAL_SPEED);
                                //mortor2.rotb(NORMAL_SPEED);
                                }
        else{
                                printf("ok4\r\n");
                                mortor1.rotf(FAST_SPEED);
                                mortor2.rotf(FAST_SPEED);
                                //mortor1.rotb(FAST_SPEED);
                                //mortor2.rotb(FAST_SPEED);
                                }    
    }
}