File content as of revision 4:fdcf3b5009c6:

#include <mbed.h>
#include "Roboter.h"

DigitalOut led(LED1);

//Periphery for distance sensors
AnalogIn distance(PB_1);
DigitalOut enable(PC_1);
DigitalOut bit0(PH_1);
DigitalOut bit1(PC_2);
DigitalOut bit2(PC_3);
IRSensor sensors[6];

// Periphery for servos
Servo servos1(PB_7);
Servo servos2(PA_6);

//Periphery for limit switch 
DigitalIn limitSwitch1(PA_10);
DigitalIn limitSwitch2(PB_13); 

//motor stuff
DigitalOut enableMotorDriver(PB_2);
PwmOut pwmL( PA_8 );
PwmOut pwmR( PA_9 );

//indicator leds arround robot
DigitalOut leds[] = { PC_8, PC_6, PB_12, PA_7, PC_0, PC_9 };

Roboter roboter1(&distance, &bit0, &bit1, &bit2, &pwmL, &pwmR, &servos1,&servos2, &limitSwitch1, &limitSwitch2);

int main()
{
    enable = 1;
    enableMotorDriver = 1;

    /*roboter1.kamera();        //Kameraauswertung

    while(cam=1) {
        roboter1.getBlock();
        wait(0.1f);
    }*/

    //while(cam==1 && camY>20) {         //ausweichen aktive solange Y-Wert von Kamera grösser als 20
        roboter1.bandeAusweichen();
        wait(0.1f);
    //}

    //while(cam==0) {           //im Kreis drehen bis Kamera einen Klotz sieht
        roboter1.findBlock();
        wait(0.1f);
    //}

}