File content as of revision 9:fa6121cc0fff:

#include "rtos.h"
#include "mbed.h"
#include "C12832_lcd.h"
#include "RangeFinder.h"
#include "Servo.h"

#define WAITT   Thread::wait(50);

// Seeed ultrasound range finder
RangeFinder rf(p22, 10, 5800.0, 100000);
BusOut myleds(LED1, LED2, LED3, LED4);
C12832_LCD lcd;

float sonar_data;
int base_servo_pos = 1000;


Servo s1(p21);
AnalogIn ainLeft(p15);
AnalogIn ainRight(p16);

Mutex base_servoMutex;
Mutex base_servo_Intelligence;

void lcd_display(void const *args) {
    while (true) {
        lcd.locate(0,0);
        if (sonar_data == -1.0)  {
            lcd.printf("Timeout Error.\n");   
        } else if (sonar_data > 5.0) {  
            lcd.printf("No object within detection range.\n");         
        } else  {
            lcd.printf("Distance = %f m.\n", sonar_data);
            lcd.locate(1,0);
            lcd.printf("\nvalue = %d m.\n", base_servo_pos);
        }
       WAITT;
    }
}

void base_servo(void const *args) {
    while (true) {
    base_servoMutex.lock();
           
    s1.SetPosition(base_servo_pos);
    base_servoMutex.unlock();
    WAITT;
    }
}

float ajusting_sonardata(float data)
{
    if(data>0.3)
    {
        return 0.3;
        }
    else{
        return data;
        }
}


int main()  {    
    lcd.cls();
        
    s1.Enable(1000,20000);    
        
//    Thread thread1(led_display);
    Thread thread2(lcd_display);
//    Thread thread3(serial_display);
    Thread thread4(base_servo);
    
    while (1)   {
        sonar_data = rf.read_m();
        base_servo_Intelligence.lock();
        base_servo_pos = 2200-((1400*ajusting_sonardata(sonar_data)/0.3));         
        base_servo_Intelligence.unlock();        
        WAITT;
    }
}