File content as of revision 0:b8adbf13199b:

#include "mbed.h"
#include "platform/mbed_thread.h"
#include "SparkfunAnalogJoystick.h"

#define M_PI 3.14159265358979323846


Thread thread1;
Thread thread2;
Thread thread3;
Thread thread4;
Thread thread5;

int distance1 = 0;
int distance2 = 0;
int distance3 = 0;
int distance4 = 0;

int distanceLimit = 10;


void thread1_HCSR04()
{
    DigitalOut trigger(D0);
    DigitalIn  echo(D1);
    Timer sonar;

    int correction = 0;
    sonar.reset();
    // measure actual software polling timer delays
    // delay used later in time correction
    // start timer
    sonar.start();
    // min software polling delay to read echo pin
    while (echo==2) {};
    
    // stop timer
    sonar.stop();
    // read timer
    correction = sonar.read_us();
    printf("Sensor proximidad 1: Approximate software overhead timer delay is %d uS\n\r",correction);
 
    //Loop to read Sonar distance values, scale, and print
    while(1) {
    // trigger sonar to send a ping
        trigger = 1;
        
       
        sonar.reset();
        wait_us(10.0);
        trigger = 0;
   
    //wait for echo high
        while (echo==0) {};
        
    //echo high, so start timer
        sonar.start();
    //wait for echo low
        while (echo==1) {};
    //stop timer and read value
        sonar.stop();
    //subtract software overhead timer delay and scale to cm
        distance1 = (sonar.read_us()-correction)/58.0;
        
        //printf("Sensor proximidad 1: %d cm \n\r",distance1);
    //wait so that any echo(s) return before sending another ping
    thread_sleep_for(1000);
    }  
}

void thread2_HCSR04()
{
    DigitalOut trigger(D2);
    DigitalIn  echo(D3);
    Timer sonar;
    
    int correction = 0;
    sonar.reset();
    // measure actual software polling timer delays
    // delay used later in time correction
    // start timer
    sonar.start();
    // min software polling delay to read echo pin
    while (echo==2) {};
    
    // stop timer
    sonar.stop();
    // read timer
    correction = sonar.read_us();
    printf("Sensor proximidad 2: Approximate software overhead timer delay is %d uS\n\r",correction);
 
    //Loop to read Sonar distance values, scale, and print
    while(1) {
    // trigger sonar to send a ping
        trigger = 1;
        
       
        sonar.reset();
        wait_us(10.0);
        trigger = 0;
   
    //wait for echo high
        while (echo==0) {};
        
    //echo high, so start timer
        sonar.start();
    //wait for echo low
        while (echo==1) {};
    //stop timer and read value
        sonar.stop();
    //subtract software overhead timer delay and scale to cm
        distance2 = (sonar.read_us()-correction)/58.0;
        
        //printf("Sensor proximidad 2: %d cm \n\r",distance2);
    //wait so that any echo(s) return before sending another ping
    thread_sleep_for(1000);
    }  
}
 
 
void thread3_HCSR04()
{
    DigitalOut trigger(D4);
    DigitalIn  echo(D5);
    Timer sonar;
    
    int correction = 0;
    sonar.reset();
    // measure actual software polling timer delays
    // delay used later in time correction
    // start timer
    sonar.start();
    // min software polling delay to read echo pin
    while (echo==2) {};
    
    // stop timer
    sonar.stop();
    // read timer
    correction = sonar.read_us();
    printf("Sensor proximidad 3: Approximate software overhead timer delay is %d uS\n\r",correction);
 
    //Loop to read Sonar distance values, scale, and print
    while(1) {
    // trigger sonar to send a ping
        trigger = 1;
        
       
        sonar.reset();
        wait_us(10.0);
        trigger = 0;
   
    //wait for echo high
        while (echo==0) {};
        
    //echo high, so start timer
        sonar.start();
    //wait for echo low
        while (echo==1) {};
    //stop timer and read value
        sonar.stop();
    //subtract software overhead timer delay and scale to cm
        distance3 = (sonar.read_us()-correction)/58.0;
        
        //printf("Sensor proximidad 3: %d cm \n\r",distance3);
    //wait so that any echo(s) return before sending another ping
    thread_sleep_for(1000);
    }  
}


void thread4_HCSR04()
{
    DigitalOut trigger(D6);
    DigitalIn  echo(D7);
    Timer sonar;
    
    int correction = 0;
    sonar.reset();
    // measure actual software polling timer delays
    // delay used later in time correction
    // start timer
    sonar.start();
    // min software polling delay to read echo pin
    while (echo==2) {};
    
    // stop timer
    sonar.stop();
    // read timer
    correction = sonar.read_us();
    printf("Sensor proximidad 4: Approximate software overhead timer delay is %d uS\n\r",correction);
 
    //Loop to read Sonar distance values, scale, and print
    while(1) {
    // trigger sonar to send a ping
        trigger = 1;
        
       
        sonar.reset();
        wait_us(10.0);
        trigger = 0;
   
    //wait for echo high
        while (echo==0) {};
        
    //echo high, so start timer
        sonar.start();
    //wait for echo low
        while (echo==1) {};
    //stop timer and read value
        sonar.stop();
    //subtract software overhead timer delay and scale to cm
        distance4 = (sonar.read_us()-correction)/58.0;
        
        //printf("Sensor proximidad 4: %d cm \n\r",distance4);
    //wait so that any echo(s) return before sending another ping
    thread_sleep_for(1000);
    }  
}

void thread5_Joystick(){
    SparkfunAnalogJoystick JoyStick(A1, A0, D1);
    
    float X;
    float Y;
    
    while(1)
    {
        
        X = JoyStick.xAxis();
        Y = JoyStick.yAxis();
        
        /*
        printf("X-Axis: %f\n\r", X);
        printf("Y-Axis: %f\n\r", Y);
        printf(" \n\r");
        */
        
        if(X >= -0.60f && X  <= 0.60f && Y >= 0.90f && Y <= 1.00f ){
            if(distance1 > distanceLimit)
            {
               printf(" Hacia adelante \r \n");  
            }
            else{
                printf(" Obstaculo! No se puede ir hacia adelante. \r \n");      
            }
            
            thread_sleep_for(1000);   
        }
        if(X >= -0.60f && X  <= 0.60f && Y <= -0.90f && Y >= -1.00f){
            
            if(distance2 > distanceLimit)
            {
               printf(" Hacia atras \r \n"); 
            }
            else{
              printf(" Obstaculo! No se puede ir hacia atras. \r \n");      
            }
             
            thread_sleep_for(1000); 
        }
        if(Y >= -0.60f && Y  <= 0.60f && X <= -0.90f && X >= -1.00f){
            
            if(distance3 > distanceLimit)
            {
               printf(" Hacia la izquierda \r \n"); 
            }
            else{
              printf(" Obstaculo! No se puede ir hacia la izquierda. \r \n");      
            }
            
            thread_sleep_for(1000);    
        }
        if(Y >= -0.60f && Y  <= 0.60f && X >= 0.90f && X <= 1.00f){
            
            if(distance4 > distanceLimit)
            {
               printf(" Hacia la derecha \r \n"); 
            }
            else{
              printf(" Obstaculo! No se puede ir hacia la derecha. \r \n");      
            }
            
    
            thread_sleep_for(1000);   
        }
        
        //thread_sleep_for(1000); 
    }
    

 }
 
 
int main()
{
    thread1.start(thread1_HCSR04);
    thread2.start(thread2_HCSR04);
    thread3.start(thread3_HCSR04);
    thread4.start(thread4_HCSR04);
    thread5.start(thread5_Joystick);
    
}