File content as of revision 3:96fcb3b041eb:

#include <global.h>

Serial pc(UART1_TX, UART1_RX);
Timer timer; 

int main() {

#if TEST_ULTRASONIC

    JSN_SR04 sensor1(TIM1_CH2, TRIG_PA8_OUT);
    JSN_SR04 sensor2(TIM1_CH2, TRIG_PB15_OUT);
    JSN_SR04 sensor3(TIM1_CH2, TRIG_PB14_OUT);
    sensor1.setRanges(10, 110);
    sensor2.setRanges(10, 110);
    sensor3.setRanges(10, 110);
    pc.printf("Min. range = %g cm\n\rMax. range = %g cm\n\r",sensor1.getMinRange(), sensor1.getMaxRange());
    while(true) {
         timer.reset();
          timer.start();
          sensor1.startMeasurement();
          sensor2.startMeasurement();
          sensor3.startMeasurement();
          while(!sensor1.isNewDataReady() || !sensor2.isNewDataReady() || !sensor3.isNewDataReady()) {
              // wait for new data
              // waiting time depends on the distance
          }
          pc.printf("Distance: %5.1f mm %5.1f mm %5.1f mm \r\n", sensor1.getDistance_mm(),sensor2.getDistance_mm(),sensor3.getDistance_mm());
          timer.stop();
          wait_ms(50 - timer.read_ms()); // time the loop
      }
  
#endif

#if TEST_ENCODERS

   AS5045Controller encoder_1(SP1_NSS1);
   AS5045Controller encoder_2(SP1_NSS2); 
   while(1)
   {
        int encoder_1_Value = encoder_1.Read();

        int encoder_2_Value = encoder_2.Read();
        if( encoder_1_Value.IsValid() && encoder_2_Value.IsValid() )
            pc.printf("Sensor Values = %d\n\r",encoder_1_Value ,encoder_2_Value  );
        else
            pc.printf("Invalid data read");
 
        Thread::wait(2);
   }
  
#endif 

# if TEST_IR

    E18_D80NK infared (<your pin>);

    while (true) {
        pc.printf ("Is there any obstacle:", infared.checkObstacle ());
    }
    
#endif

}