File content as of revision 4:f6e22dd39313:

#include <global.h>

Serial pc(UART1_TX, UART1_RX);
Timer timer;

int main()
{
//
    DigitalOut led(DEBUG_LED);
    DigitalOut led2(DE_TXD_1, 1); // activate transmitting rs485-1
//   led = false;
//   while (true) {
//        led = !led;
//        wait_ms(BLINKING_RATE);
//        pc.printf("Distance:");
//    }
//

#if TEST_ULTRASONIC
    int time_to_check_us = 1000;
    JSN_SR04 sensor1(TIM1_CH2, TRIG_PA8_OUT);
//    JSN_SR04 sensor1(TIM1_CH2, TRIG_PB14_OUT); //no triger signal
//    JSN_SR04 sensor1(TIM1_CH2, TRIG_PB15_OUT);
    sensor1.setRanges(30, 200);
//    sensor2.setRanges(30, 200);
//    sensor3.setRanges(30, 200);
//    pc.printf("Min. range = %g cm\n\r",sensor1.getMinRange());
    while(true) {
        timer.reset();
        timer.start();
        sensor1.startMeasurement();
        while (sensor1.isNewDataReady() == false && timer.read_ms() < time_to_check_us) {
//           pc.printf("c1");
           // if (sensor1.isNewDataReady() == true) {
//                pc.printf("Distance1: %5.1f mm \r\n", sensor1.getDistance_cm());
//            }
        }
        //timer.reset();
//        timer.start();
////        pc.printf("\r\n");
//        sensor2.startMeasurement();
//        while (sensor2.isNewDataReady() == false && timer.read_ms() < time_to_check_us) {
////                pc.printf("c2");
//        }  
//        timer.reset();
//        timer.start();
//        pc.printf("\r\n");
        //sensor3.startMeasurement();
//        while (sensor3.isNewDataReady() == false && timer.read_ms() < time_to_check_us) {
//                pc.printf("c3");
//        }       
//        
//        pc.printf("\r\n");         
//        pc.printf("Distance1: %5.1f mm -- Distance2: %5.1f mm -- -- Distance3: %5.1f mm \r\n", sensor1.getDistance_cm()), sensor2.getDistance_cm(), sensor3.getDistance_cm());
        pc.printf("Distance1: %5.1f mm \r\n", sensor1.getDistance_cm());

        timer.stop();
//        wait_ms(150 - timer.read_ms());

        //
//          timer.reset();
//          timer.start();
//
//          sensor2.startMeasurement();
//          pc.printf("Distance2: %5.1f mm \r\n", sensor2.getDistance_cm());
//
//          timer.stop();
//          wait_ms(500 - timer.read_ms());
//
//          timer.reset();
//          timer.start();
//
//          sensor3.startMeasurement();
//          pc.printf("Distance3: %5.1f mm \r\n", sensor3.getDistance_cm());
//
//          timer.stop();
        //wait_ms(500 - timer.read_ms()); // time the loop

//
//          wait_ms(500 - timer.read_ms()); // time the loop

    }

#endif

#if TEST_ENCODERS
int min1_value = 2000;
int max1_value = 0;
    AS5045 encoder_1(SP1_NSS1);
    AS5045 encoder_2(SP1_NSS2);
    while(1) {
        led = !led;
        int encoder_1_Value = encoder_1.getPosition();
        wait_ms(30);
        int encoder_2_Value = encoder_2.getPosition();
        wait_ms(30);
        //encoder_1_Value =
        //if( encoder_1_Value.IsValid() && encoder_2_Value.IsValid() )
        
        if(encoder_1_Value < min1_value) min1_value = encoder_1_Value;
        if(encoder_1_Value > max1_value) max1_value = encoder_1_Value;
        pc.printf("Sensor Values = %d --- %d \n\r",encoder_1_Value, encoder_2_Value ); //
        //else
        //pc.printf("Invalid data read");

        //wait_ms(50);
    }

#endif

# if TEST_IR
    //E18_D80NK infared1 (IR1_PB12_OUT);
//    E18_D80NK infared2 (IR2_PB13_OUT);
//    while (true) {
//        pc.printf ("Is there any obstacle: %d ---- %d ",  infared1.checkObstacle(),infared2.checkObstacle() );
//        pc.printf ("\n\r");
//    }


#endif

}