File content as of revision 0:450a7208c682:

#include "mbed.h"
#include "URF.h"

Serial pc(USBTX, USBRX, 115200);

URF usdRight(D6);
URF usdLeft(D8);

Ticker update;

DigitalOut led(LED1);
DigitalOut led2(PC_4);
 
DigitalIn btn(USER_BUTTON);

void inter(void)
{
    usdRight.send();
    usdLeft.send();
}

void URF(int dataRight, int dataLeft){
    if(dataRight>100 && dataRight<=230){
        pc.printf("right slow\n");
        //Yonrin(-0.3f, 0);
        if(dataLeft>100 && dataLeft<=230){
            pc.printf("left slow\n");
            //Yonrin(0.3f, 0);
        }
        else if(dataLeft<=100){
            pc.printf("left stop\n");
            //Yonrin(0);
        }
    }
    else if(dataRight<=100){
        pc.printf("right stop\n");
        //Yonrin(0);
        if(dataLeft>100 && dataLeft<=230){
            pc.printf("left slow\n");
            //Yonrin(0.3f, 0);
        }
        else if(dataLeft<=100){
            pc.printf("left stop\n");
            //Yonrin(0);
        }
    }
    else if(dataLeft>100 && dataLeft<=230){
        pc.printf("left slow\n");
        //Yonrin(0.3f, 0);
        if(dataRight>100 && dataRight<=230){
            pc.printf("right slow\n");
            //Yonrin(-0.3f, 0);
        }
        else if(dataRight<=100){
            pc.printf("right stop\n");
            //Yonrin(0);
        }
    }
    else if(dataLeft<=100){
        pc.printf("left stop\n");
        //Yonrin(0);
        if(dataRight>100 && dataRight<=230){
            pc.printf("right slow\n");
            //Yonrin(-0.3f, 0);
        }
        else if(dataRight<=100){
            pc.printf("right stop\n");
            //Yonrin(0);
        }
    }
}

int main(){
    pc.printf("check1\n");

    update.attach(&inter, 0.06);

    while(1){
        int dataRight = usdRight.read(mm);
        int dataLeft = usdLeft.read(mm);
        //pc.printf("right: %d, left: %d\n", dataRight, dataLeft);
        
        if(dataRight<=230 || dataLeft<=230){
            URF(dataRight,dataLeft);
        }
    }
}