File content as of revision 0:5edc27224a37:

#include "mbed.h"
#include "rtos.h"
#include "Servo.h"
#include "C12832.h"
Servo s1(p21);
Servo s2(p22);
Serial pc(USBTX, USBRX);
Mutex mutexIn;
Mutex mutexOut;

// Globel variables
float cordinates[3];
float corHoriz;
float corVertic;
float corDeep;
float outVert;
float outHoriz;
C12832 lcd(p5, p7, p6, p8, p11);// lcd is an object from class c12832 initialised by p5,p7....

/* Thread Serial 1 - handles the output data from the control thread, and pass to the servo.
    @update s1, s2 */
void serial_thread(void const *args) {
    while (true) {
        mutexIn.lock();
//        cordinates = pc.putc(pc.getc());
        corHoriz = cordinates[0];
        corVertic = cordinates[1];
        corDeep = cordinates[2];
        mutexIn.unlock();
        Thread::wait(200);
    }
}
 
/* Thread LCD 2 - handles the input data from the sonar sensor, and display on the LCD screen.
    @update inData */
void lcd_thread(void const *args) {
    while (true) {
        mutexIn.lock();
        mutexOut.lock();
        // Display values on the LCD screen
        lcd.cls();          // clear the display
        lcd.locate(0,3);    // the location where you want your charater to be displayed
        lcd.printf("Hor: %f, Vert: %f, Deep: %f", corHoriz, corVertic, corDeep);
        mutexIn.unlock();
        mutexOut.unlock();
        Thread::wait(25);
    }
}

/* Thread Control 3 - handles the input data from the sonar sensor, and display on the LCD screen.
    @update inData */
void control_thread(void const *args) {
    while (true) {
        mutexIn.lock();
        // The control code will come here
        
        mutexIn.unlock();
        Thread::wait(25);
    }
}

/* Thread Servo 4 - handles the output data from the control thread, and pass to the servo.
    @update s1, s2 */
void servo_thread(void const *args) {
    while (true) {
        mutexOut.lock();
//        s1 = outVert;
//        s2 = outHoriz;
        mutexOut.unlock();
        Thread::wait(200);
    }
}

int main() {
    Thread thread_1(serial_thread); // Start Serial Thread
    Thread thread_2(lcd_thread); // Start LCD Thread
    Thread thread_3(control_thread); // Start Control Thread
    Thread thread_4(servo_thread); // Start Servo Thread
    while(1) {
        Thread::wait(10);
    }
}