Servo Color Tracking Example

//Nina Horne 115307292
//ENME351 Final Lab
void setup() {
Serial.begin(115200);
//x of object (orange wires)
pinMode(5, OUTPUT);
pinMode(A0, INPUT);
//green LED: same face detected (green wires)
pinMode(2,OUTPUT);
pinMode(13, INPUT);
//red LED: unsure if it is the same face (yellow wires)
pinMode(4,OUTPUT);
pinMode(12,INPUT);
}
void loop() {
//send signal from camera to the LEDs
int green = digitalRead(13);
digitalWrite(2,green);
int red = digitalRead(12);
digitalWrite(4,red);
//define values for servo
int tperiod = 20000;
int xval = analogRead(A0);
// convert from xval to servo control
int tcontrol = map(xval,0, 416, 500, 2500);
digitalWrite(5, HIGH);
delayMicroseconds(tcontrol);
digitalWrite(5, LOW);
delayMicroseconds(tperiod - tcontrol);
//convert from xval to angle
int angle = map(xval, 0, 416, -500, 500);

//Print values to processing
Serial.println(String(green) + "\t" + String(red) + "\t" + String(angle));

//Print to arduino monitor for testing commented out leaving only the values
needed for processing
//Serial.print("green LED:");
// Serial.println(green);
//Serial.print("redED:");
// Serial.println(red);
//Serial.print("t control= ");
//Serial.println(tcontrol);
//Serial.print("angle= ");
// Serial.println(angle);