File content as of revision 1:5b9fa1823663:

#include "mbed.h"
#include "QEI.h"

PwmOut motor1_reverse(PB_4);
PwmOut motor1_forward(PB_10);
PwmOut motor2_forward(PA_7);
PwmOut motor2_reverse(PB_6);

//
DigitalIn encoder1A(PC_15);
DigitalIn encoder1B(PB_3);
DigitalIn enconder2A(PA_1);
DigitalIn enconder2B(PA_2); // we need to check things now.


DigitalOut myled(LED1);

QEI LENC (PC_15, PB_3, NC, 100 );
QEI RENC (PA_1, PA_10, NC, 100 );

int distance = 0;

void rightForward(float speed);
void leftForward(float speed);

Serial pc (USBTX, USBRX);

int main() {
    LENC.reset();
    RENC.reset();
    
  pc. printf ( "Hello World!!!!!!\r\n" );  
    
    myled = 0;
    while(1) {
//        motor1_reverse = 0.5;
//        motor1_forward = 0;
//    
//        motor2_forward = 0.5;
//        motor2_reverse = 0;

        motor1_reverse = 0;
        motor1_forward = 0;
    
        motor2_forward = 0;
        motor2_reverse = 0;
        
        int in = encoder1A.read();        

        while ( in == 1 )
        {
            myled = 1;
            wait(4);
            in = encoder1A.read();
        }
        while ( in == 0 )
        {
            myled = 0;
            in = encoder1A.read();
        }
    }
    //
//    motor1_reverse = 1.0;
//    motor1_forward = 1.0;
//    
//    motor2_forward = 1.0;
//    motor2_reverse = 1.0;
    //rightForward(0.5);
    //leftForward(-0.5);
}

void moveForward(float speed)
{
    motor1_forward = speed;
    motor2_forward = speed;
    
    motor1_reverse = 0;
    motor2_reverse = 0;
}



void rightForward(float speed) {
    if (speed == 0) {
        motor1_forward = 1.0;
        motor1_reverse = 1.0;
    }
    
    if (speed > 0) {
        motor1_forward = speed;
        motor1_reverse = 0;
    }
    
    else {
        motor1_forward = 0;
        motor1_reverse = -speed;
    }
}

void leftForward(float speed) {
    if (speed == 0) {
        motor2_forward = 1.0;
        motor2_reverse = 1.0;
    }
    
    if (speed > 0) {
        motor2_forward = speed;
        motor2_reverse = 0;
    }
    
    else {
        motor2_forward = 0;
        motor2_reverse = -speed;
    }
}