File content as of revision 0:9a3e7847a4be:

#include <mbed.h>

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

//Sensor I/O:
    
    AnalogIn lineSensor(PA_0);
    AnalogIn distance1(PA_1);
    AnalogIn distance2(PA_4);
    AnalogIn distance3(PB_0);

    IRSensor irSensorL (distance1);
    IRSensor irSensorC (distance2);
    IRSensor irSensorR (distance3);

//Motor I/O:
    DigitalOut myled(LED1);
    
    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() {
    
/* Micromouse Test */


    //Sensoren
    while(1) {
        
        float distanceL = irSensorL.read();
        float distanceC = irSensorC.read();
        float distanceR = irSensorR.read();
        printf("Rechts: %f  Mitte: %f  Links: %f  Line: %f\n", 
                distanceL, distanceC, distanceR, lineSensor);
        
        wait(0.5f);
    }
    
    //Motoren
    while(0) {
        
        controller.setDesiredSpeedLeft(50.0f); //Drehzahl in [rpm]
        controller.setDesiredSpeedRIght(50.0f);
        enableMotorDriver = 1; //Schaltet  den Leistungstreiber ein
            while(1) {
        
                myled =! myled;
                wait(0.1f); //200 ms
            }
        
    }

}