code 1

// TCS230 or TCS3200 pins wiring to Arduino
#define S0 5
#define S1 6
#define S2 7
#define S3 8
#define sensorOut A0

// line
#include <Servo.h>

const int servoPin = 11;    //serveo pin
const int escPin = 3;      //ESC pin
const int redLED = 2;
const int greenLED = 9;
const int blueLED = 4;

Servo servoMain;        //add servos
Servo ESC_Servo;
// line

// Stores frequency read by the photodiodes
int redFrequency = 0;
int greenFrequency = 0;
int blueFrequency = 0;

void setup() {
  // Setting the outputs
  pinMode(S0, OUTPUT);
  pinMode(S1, OUTPUT);
  pinMode(S2, OUTPUT);
  pinMode(S3, OUTPUT);

  // Setting the sensorOut as an input
  pinMode(sensorOut, INPUT);

  // Setting frequency scaling to 20%
  digitalWrite(S0, HIGH);
  digitalWrite(S1, LOW);

  // Begins serial communication
  Serial.begin(9600);



  //line
  pinMode(greenLED, OUTPUT);
  pinMode(redLED, OUTPUT);
  pinMode(blueLED, OUTPUT);
  pinMode(sensorOut, INPUT); //initilaze pins

  servoMain.attach(servoPin); //attach servos
  ESC_Servo.attach(escPin);

  digitalWrite(13, HIGH);
  //line
}
void loop() {
  // Setting RED (R) filtered photodiodes to be read
  digitalWrite(S2, LOW);
  digitalWrite(S3, LOW);

  // Reading the output frequency
  redFrequency = pulseIn(sensorOut, LOW);

  // Printing the RED (R) value
  Serial.print("R = ");
  Serial.print(redFrequency);
  delay(100);

  // Setting GREEN (G) filtered photodiodes to be read
  digitalWrite(S2, HIGH);
  digitalWrite(S3, HIGH);

  // Reading the output frequency
  greenFrequency = pulseIn(sensorOut, LOW);

  // Printing the GREEN (G) value
  Serial.print(" G = ");
  Serial.print(greenFrequency);
  delay(100);

  // Setting BLUE (B) filtered photodiodes to be read
  digitalWrite(S2, LOW);
  digitalWrite(S3, HIGH);

  // Reading the output frequency
  blueFrequency = pulseIn(sensorOut, LOW);

  // Printing the BLUE (B) value
  Serial.print(" B = ");
  Serial.println(blueFrequency);
  delay(100);



  //line
  if (redFrequency < 100) {
    Serial.println("90, red");
    red();
    escthings();
  } else {
    Serial.println("0, green");
    green();
    delay(100);
  }
  //line
}




// line
void escthings() {  //set the ESC to do things, just copied and pasted
  int n = 0;
  n = map(sensorOut, 0, 1023, 10, 180);
  ESC_Servo.write(n);
  Serial.println(n);
  delay(2000);
}
void green() {           //Set green light
  digitalWrite(redLED, 255);
  digitalWrite(greenLED, 0);
  digitalWrite(blueLED, 255);
  servoMain.write(0);
}
void red() {              //Set red light
  digitalWrite(redLED, 0);
  digitalWrite(greenLED, 255);
  digitalWrite(blueLED, 255);
  servoMain.write(90);
}
//line