File content as of revision 0:830ddddc129f:

#include "mbed.h"

#include "RobotServo.h"
#include "SensorFusion.h"
#include "SPI_9dSensor.h"
#include "RobotBicycleConst.h"

AnalogIn analog_value(A5);//When using the ADC module, those pins connected to  AnalogIn can't be used to output.

Ticker timer1;
Ticker timer2;

//Serial pc(D1, D0) declared in SPI_9dSensor.h

float meas, L_inver;

void timer1_interrupt(void);
void timer2_interrupt(void);

int main() {
    setupServo();
    
    timer1.attach_us(&timer1_interrupt, 4000);//4.0ms interrupt period (250 Hz)
    timer2.attach_us(&timer2_interrupt, 4098);//4.098ms interrupt period (244 Hz)
    
    pc.printf("\nAnalogIn example\r\n");
    
    while(1) {
        pc.printf("measure: %f V,\t%f cm\r\n", meas, 1/L_inver);
        wait(0.1); // 200 ms
    }
}

void timer1_interrupt(void)
{
    meas = analog_value.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
    meas = meas * 3.3f; // Change the value to be in the 0 to 3300 range
    L_inver = 0.0063f * meas - 0.005769f;
}

void timer2_interrupt(void)
{
    ;
}