File content as of revision 7:a852e63cac3d:

/*
 ============================================================================
 Name        : robot.cpp
 Author      : Team 5
 Version     : 0.1
 Date        : 13-10-2016
 Copyright   : Open for all
 Description : Program to serve the platform for Pro1 2016
 ============================================================================
 */ 
#include "odometry.h" 
#include "mbed.h"
#include "hack_motor.h"
#include <math.h> 

void startfunction( );
Ticker T1; // create an object T1 of Ticker 

int main()
{ 
/////////////////////////////////////////////////////////////////////////////
//                          Driving setup                                  // 
/////////////////////////////////////////////////////////////////////////////
    while(1)    //Remember to include if statement to stop robot if it's time to recharge
    {
    read_analog();
    startfunction(); 
    get_to_goal();
    robot.stop();
    printf("\n\r DistanceBysensor: %.2f \n", Dcenter()); 
    wait_ms(2000);
    
    read_analog();
    startfunction();
    get_to_goal();
    robot.stop();
    printf("\n\r DistanceBysensor: %.2f \n", Dcenter());  
    wait_ms(2000);
    
    read_analog();
    startfunction();
    get_to_goal();
    robot.stop();
    printf("\n\r DistanceBysensor: %.2f \n", Dcenter()); 
    wait_ms(2000);
    
    read_analog();
    startfunction();
    get_to_goal();
    robot.stop();
    printf("\n\r DistanceBysensor: %.2f \n", Dcenter());  
    wait_ms(2000);
    }
} 
/*  
----------------------------------------------------------------------------
                            END OF MAIN FUNCTION
----------------------------------------------------------------------------*/  
void startfunction()
{
    T1.attach(&read_analog, 1.0); // attach the address of the read_analog
    //function to read analog in every second
    tacho_left.rise(&tickLeft);  // attach the address of the count function
    //to the falling edge
    tacho_right.rise(&tickRight);  // attach the address of the count function
    //to the falling edge
    init(); // initialise parameters (just for you to remember if you need to)
    wait_ms(2000); //wait 1 secs here before you go
    t.start();      // start timer (just demo of how you can use a timer)
}