File content as of revision 0:e611a0b9f02a:

#include <mbed.h>

#include "EncoderCounter.h"
#include "Controller.h"
#include "IRSensor.h"

DigitalOut myled(LED1);

DigitalOut led0(PC_8);
DigitalOut led1(PC_6);
DigitalOut led2(PB_12);
DigitalOut led3(PA_7);
DigitalOut led4(PC_0);
DigitalOut led5(PC_9);

AnalogIn distance(PB_1);
DigitalOut enable(PC_1);
DigitalOut bit0(PH_1);
DigitalOut bit1(PC_2);
DigitalOut bit2(PC_3);

IRSensor irSensor0(distance, bit0, bit1, bit2, 0);
IRSensor irSensor1(distance, bit0, bit1, bit2, 1);
IRSensor irSensor2(distance, bit0, bit1, bit2, 2);
IRSensor irSensor3(distance, bit0, bit1, bit2, 3);
IRSensor irSensor4(distance, bit0, bit1, bit2, 4);
IRSensor irSensor5(distance, bit0, bit1, bit2, 5);


DigitalOut enableMotorDriver(PB_2);
DigitalIn motorDriverFault(PB_14);
DigitalIn motorDriverWarning(PB_15);

PwmOut pwmLeft(PA_8);
PwmOut pwmRight(PA_9);

EncoderCounter counterLeft(PB_6, PB_7);
EncoderCounter counterRight(PA_6, PC_7);

Controller controller(pwmLeft, pwmRight, counterLeft, counterRight);

int main()
{

    controller.setDesiredSpeedLeft(150.0f); // Drehzahl in [rpm]
    controller.setDesiredSpeedRight(-150.0f);
    enable = 1;
    enableMotorDriver = 1; // Schaltet den Leistungstreiber ein

    while(1) {

        myled =! myled;

        if (irSensor0.read() < 0.2f) led0 = 1;
        else led0 = 0;
        
        if (irSensor1.read() < 0.2f) led1 = 1;
        else led1 = 0;
        
        if (irSensor2.read() < 0.2f) led2 = 1;
        else led2 = 0;
        
        if (irSensor3.read() < 0.2f) led3 = 1;
        else led3 = 0;
        
        if (irSensor4.read() < 0.2f) led4 = 1;
        else led4 = 0;
        
        if (irSensor5.read() < 0.2f) led5 = 1;
        else led0 = 5;
        
        printf("iSumLeft: %f, iSumRight: %f, counterDiff; %d \n\r", controller.getIntegralLeft(), controller.getIntegralRight(), (counterLeft.read()+counterRight.read()));
                
        wait(0.2f); // 100 ms
        
    }
}