File content as of revision 9:4053b5217339:

#include "mbed.h"
#include "CMPS03.h"
#include "CNY70.h"
#include "GP2A.h"
#include "VMA306.h"
#include "Pixy.h"
#include "PID.h"

#define PI  3.1415926535898

Serial      pc          (PA_2, PA_3, 115200);
PID         motor       (TIM4, TIM3, PA_9, PA_8, PC_9, PC_8, PC_6, PC_5);

CMPS03      boussole    (PC_4);

CNY70       ligneD      (PC_3);
CNY70       ligneG      (PC_2);
CNY70       exterior    (PA_7);

VMA306      ultraSon    (PB_15, PA_6, PB_14, PC_7, PB_13, PB_2);

PIXY        pixy        (PA_0, PA_1, 115200);

InterruptIn bp          (PC_13);

DigitalOut  led1        (PA_5);
DigitalOut  led2        (PD_2);
DigitalOut  unused1     (PB_10);
DigitalOut  unused2     (PA_15);
DigitalOut  unused3     (PA_12);

DigitalIn   unused4     (PA_4, PullUp);
DigitalIn   unused5     (PB_0, PullUp);
DigitalIn   unused6     (PC_1, PullUp);
DigitalIn   unused7     (PC_0, PullUp);

Timer       temps;

int main ()
{
    motor.resetPosition();
    double x=0, y, theta = 0;

    while (1) {
        double speed_L = 50, speed_R = 50;
        while (x <= 200)
        {
            motor.setSpeed(speed_L,speed_R);
            motor.getPosition(&x, &y, &theta);
            pc.printf("\r x = %lf", x);
        } 
        motor.setSpeed(0,0);
    }
    
    return 0;
}