File content as of revision 0:f4862c7fd394:

#include "mbed.h"
#include "IRSensor.h"

DigitalOut led(LED1);

//Perophery 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];

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

//timer object for ledshow and distance sensor
Ticker t1;

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

//lights up the led according to the sensor signal
void ledDistance()
{
    for( int ii = 0; ii<6; ++ii)
        sensors[ii]< 0.1f ? leds[ii] = 1 : leds[ii] = 0;
}

//blinks at startup and starts ledDistance task
void ledShow()
{
    static int timer = 0;
    for( int ii = 0; ii<6; ++ii)
        leds[ii] = !leds[ii];

    //quit ticker and start led distance show
    if( ++timer > 10) {
        t1.detach();
        t1.attach( &ledDistance, 0.01f );
    }
}

int main()
{
    pwmL.period(0.00005f); // Setzt die Periode auf 50 μs
    pwmR.period(0.00005f);

    pwmL = 0.5f; // Setzt die Duty-Cycle auf 50%
    pwmR = 0.5f;
    enableMotorDriver = 0;

    t1.attach( &ledShow, 0.05f );

    //init distance sensors
    for( int ii = 0; ii<6; ++ii)
        sensors[ii].init(&distance, &bit0, &bit1, &bit2, ii);

    enable = 1;

    while(1) {
        wait( 0.2f );
    }
}