File content as of revision 5:802a7c5a4b27:

#include "mbed.h"
#include "xbee.h"
#include "LSM9DS1.h"
xbee xbee1(p13,p14,p5); //Initalise xbee_lib

DigitalOut led1(LED1);
DigitalOut led2(LED2);

DigitalOut led3(LED3);
Serial pc(USBTX, USBRX); //Initalise PC serial comms
    char read_data1[202]; //Xbee buffer size is 202 bytes
        char send_data[202]; //Xbee buffer size is 202 bytes
        char read_data[202]; //Xbee buffer size is 202 bytes
        
 
//also setting unused analog input pins to digital outputs reduces A/D noise a bit
//see http://mbed.org/users/chris/notebook/Getting-best-ADC-performance/
DigitalOut P16(p16);
DigitalOut P17(p17);
DigitalOut P18(p18);
DigitalOut P19(p19);
DigitalOut P20(p20);
int main()
{       
        LSM9DS1 imu(p9, p10, 0xD6, 0x3C);
        imu.begin();


        //pc.baud(9600);

         //Thread thread(led2_thread);
        imu.readAccel();
      double t=imu.az;    
      while(1) {
                led1=0;
        led2=0;
        imu.readAccel();
        t=imu.az;
        
        while(abs(t-imu.az)<4000){
            
            imu.readAccel();
            t=imu.az;
             pc.printf("gyro: %d %d %d\n\r", imu.ax, imu.ay, imu.az);
             wait(.5);
             imu.readAccel();
        }
        //pc.scanf("%s",send_data); //Read data from serial console
        led1=1;
        xbee1.SendData("hey"); //Send data to XBee
        led2=1;
       // xbee1.RecieveData(read_data1,0); //Read data from the XBee
        //led1=0;
        wait(5);
    }
}