File content as of revision 0:46115ad78747:

#include "mbed.h"
#include "class_hardware.h"

Motor::Motor(PinName pin_pwm, PinName pin_fwd, PinName pin_rev) :
    pwm(pin_pwm), fwd(pin_fwd), rev(pin_rev) {
        pwm=0;
        pwm.period(0.001);
        fwd=0; rev=0;
    }

void Motor::stop() {
    pwm=0;
    fwd=0; rev=0;
}

void Motor::stop(bool powered) {
    pwm=0;
    if ( powered )
        { fwd=1; rev=1; }
    else
        { fwd=0; rev=0; }
}

void Motor::set(int speed) {
    if ( speed > 0 ) {
        pwm=( (float)(speed) / 100 );
        fwd=1; rev=0;
    }
    else if ( speed < 0 ) {
        pwm=( (float)(speed) / -100 );
        fwd=0; rev=1;
    }
    else
        { pwm=0; fwd=0; rev=0; }
}

IRSensor::IRSensor(PinName pin_ir) :
    ir(pin_ir) {
        threshold = 500;
    }

IRSensor::IRSensor(PinName pin_ir, int threshold_black) :
    ir(pin_ir) {
        threshold = threshold_black;
    }

bool IRSensor::is_black() {
    if ( ir.read_u16()>>6 > threshold )
        return true;
    
    return false;
}

int IRSensor::get_data() {
    return ( ir.read_u16()>>6 );
}

USSensor::USSensor(PinName pin_trigger, PinName pin_echo) :
    trigger(pin_trigger),echo(pin_echo) {
        echo.rise(this, &USSensor::on_rise);
        echo.fall(this, &USSensor::on_fall);
        
        distance = 50;
    }

USSensor::USSensor(PinName pin_trigger, PinName pin_echo, int distance_set_bool) :
    trigger(pin_trigger),echo(pin_echo) {
        echo.rise(this, &USSensor::on_rise);
        echo.fall(this, &USSensor::on_fall);
        
        if (distance_set_bool < 4000 && distance_set_bool > 20)
            distance = distance_set_bool;
        else
            distance = 50;
    }

void USSensor::initialize() {
    ticker.attach(this, &USSensor::measure, 0.06);
    timer.start();
}

void USSensor::measure() {
    trigger=1;
    wait_us(10);
    trigger=0;
}

void USSensor::on_rise() {
    timer.reset();
}

void USSensor::on_fall() {
    distance_mm = ( (float)(timer.read_us()) * 1716E-4 );
    
    if ( distance_mm < distance )
        in_distance = true;
    else
        in_distance = false;
}