File content as of revision 1:8b600c187fe6:

#include "mbed.h"
#include "IRSensor.h"

DigitalOut myled(LED1);
DigitalIn mybutton(BUTTON1); 

AnalogIn v_distance(PA_0);  // Kreieren der Ein- und Ausgangsobjekte   
DigitalOut enable(PG_1);   
DigitalOut bit0(PF_0);   
DigitalOut bit1(PF_1);   
DigitalOut bit2(PF_2);

DigitalOut led0(PD_4);   
DigitalOut led1(PD_3);   
DigitalOut led2(PD_6);   
DigitalOut led3(PD_2);   
DigitalOut led4(PD_7);   
DigitalOut led5(PD_5); 

DigitalOut en_Motor(PG_0);
DigitalIn Error_Motor(PD_1);
DigitalIn Warn_Motor(PD_0); 
PWMOut MotorLeft(PF_9); 
PWMOut MotorRight(PF_8); 


IRSensor S_hinten(v_distance, bit0 , bit1, bit2, 0);
IRSensor S_hinten_links(v_distance, bit0 , bit1, bit2, 1);
IRSensor S_vorne_links(v_distance, bit0 , bit1, bit2, 2);
IRSensor S_vorne(v_distance, bit0 , bit1, bit2, 3);
IRSensor S_vorne_rechts(v_distance, bit0 , bit1, bit2, 4);
IRSensor S_hinten_rechts(v_distance, bit0 , bit1, bit2, 5);

int main() { 
    //Set Motor Settings
    MotorLeft.period(0.00005); 
    MotorRight.period(0.00005); 
    
    MotorLeft = 0.5; 
    MotorRight = 0.5;

    en_Motor = 1; 
    
    //Set IR Setting
    enable = 1; 
    

    while(1) {
        float distance0 = S_hinten.read();  // gibt die Distanz in [m] zurueck  
        float distance1 = S_hinten_links.read();   
        float distance2 = S_vorne_links.read();   
        float distance3 = S_vorne.read();   
        float distance4 = S_vorne_rechts.read();   
        float distance5 = S_hinten_rechts.read();
        
        if(distance0 < 0.2f){
            led0 = 1; 
        }else{
            led0 = 0;    
        }
        if(distance1 < 0.2f){
            led1 = 1; 
        }else{
            led1 = 0;    
        }
        if(distance2 < 0.2f){
            led2 = 1; 
        }else{
            led2 = 0;    
        }
        if(distance3 < 0.2f){
            led3 = 1; 
        }else{
            led3 = 0;    
        }
        if(distance4 < 0.2f){
            led4 = 1; 
        }else{
            led4 = 0;    
        }
        if(distance5 < 0.2f){
            led5 = 1; 
        }else{
            led5 = 0;    
        }
    }
}