File content as of revision 35:c2af31894a91:

#include "mbed.h"
#include "TPA81new.h"
#include "SRF05.h"
#include "Uvtron.h"
#include "Stepper.h"

#define LCD_D4_DIG PA_15
#define LCD_D5_DIG PA_14
#define LCD_E_DIG PC_15
#define LCD_RS_DIG PB_7

Serial pc(USBTX,USBRX);

// TPA
TPA81 tpax(PB_9, PB_8, 0xDC);
TPA81 tpay(PB_9, PB_8, 0xDE);

// Ultrasonik
//SRF05 srf1(PC_13, PA_14); // trigger, echo
//SRF05 srf1(PA_11, PB_12);
//SRF05 srf1(PB_12, PA_11);
SRF05 srf1(PB_3, PB_10);
SRF05 srf2(PA_15, PB_7); // trigger, echo

DigitalOut relay(PB_2);

// UVTron
Uvtron uv(PC_12); 

// Sound
DigitalIn sound(PA_9);

// Line
AnalogIn line(PC_1);

// infrared
#define a_depan 5000000
#define b_depan 1.229
// atas
AnalogIn ira1(PC_5);
AnalogIn ira2(PA_5);
AnalogIn ira3(PC_2);
AnalogIn ira4(PC_3);
AnalogIn ira5(PB_1);
AnalogIn ira6(PC_4);
AnalogIn ira7(PA_6);
AnalogIn ira8(PA_7);
// bawah
AnalogIn irb1(PA_0);
AnalogIn irb2(PA_1);
AnalogIn irb3(PA_4);
AnalogIn irb4(PB_0);

#define WAIT_TIME 0.02

// stepper(PinName _en, PinName ms1, PinName ms2, PinName ms3, PinName _stepPin, PinName dir);
stepper s(PC_6, PC_8, PA_12, PC_7, PA_11, PB_12);

float call_depan(uint16_t x){
    float side_distance = a_depan/pow(x,b_depan)+1;
    return side_distance;
}

int main()
{
    while(1) {
        pc.printf("%d", tpay.getTemp(0));
        int i;
        pc.printf("\nTPA Y \n");
        tpay.Read();
        for (i=2; i<=9; i++) {
            pc.printf("%d ",tpay.getTemp(i));
        }

        pc.printf("\nTPA X \n");
        tpax.Read();
        for (i=2; i<=9; i++) {
            pc.printf("%d ",tpax.getTemp(i));
        }
        pc.printf("\n");
        
//        for (int i=0; i<200; i++)
//        {
//            s.step(1, 1, 1/WAIT_TIME);
//        }
    }
}