File content as of revision 0:e26f2e97182d:

/* mbed Microcontroller Library
 * Copyright (c) 2019 ARM Limited
 * SPDX-License-Identifier: Apache-2.0
 */

#include "mbed.h"
#include "platform/mbed_thread.h"
#include "tb6612.h"
#include "VL53L0X.h"

I2C         i2c(D14,D15);
VL53L0X     vl_sensors[3] = {(&i2c),(&i2c),(&i2c)}
BusOut      vl_shutdown(D0,D1,D3);
Serial      usb(USBTX. USBRX, 115200);
TB6612      motorL(D2,D4,D5);
TB6612      motorR(D9,D10,D11);

float DR; //distance measured if need to turn 45º right - manual measured value
float DL; //distance measured if need to turn 45º left - manual measured value 
float D; // distance measured to go straight - given value
float TM; //Time needed to turn 45º in either direction
float DI; // distance measured
float R; //Ratio between D1 and D
float T; //Calculated turn time for current offset
float Dlefts; //left sensor reading
float Drights; //right sensor reading
float Dfronts; // front sensor reading

int main()
{
    usb.printf("Multiple VL53L0X\n\r");

    uint8_t expander_shutdown_mask = 1;
    for(uint8_t i = 0; i < 3; i++) {
        vl_shutdown = expander_shutdown_mask;
        expander_shutdown_mask = (expander_shutdown_mask << 1) + 1;
        vl_sensors[i].init();
        vl_sensors[i].setDeviceAddress(0x40 + i);
        vl_sensors[i].setModeContinuous();
        vl_sensors[i].startContinuous();
    }
    uint16_t results[3];

    while(1) {
        for(uint8_t i = 0; i < 3; i++) {
            results[i] = vl_sensors[i].getRangeMillimeters();
        }
        Dfronts = results[0];
        Dlefts = results[1];
        Drigts = results [2];
        
        DI = Dfronts;
        
        if(DI>D) {
            R = DR/DI;
            T = TM/R;
            motorR.setSpeed(-1);
            motorL.setSpeed(1);
            usb.printf("right turn\n\r");
            wait(T);
        }
        if (DI<D) {
            R = DL/DI;
            T = TM/R;
            motorR.setSpeed(1);
            motorL.setSpeed(-1);
            usb.printf("left turn\n\r");
            wait(T);
        }
    }

}