File content as of revision 0:0ce0b0fb5215:

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


Serial pc(USBTX, USBRX);
DigitalIn enA(p21);
DigitalIn enB(p22);

DigitalIn sw(p23);
DigitalIn sw2(p24);

DigitalIn lim1(p7);
DigitalIn lim2(p8);


#define target 300.0 // :mm
//#define target2 0 // :mm
Timer t;

//AnalogIn aIn_1(PTD4);    // Command input 1(0.0 to 1.0).
//AnalogIn aIn_2(PTD5);    // Command input 2(0.0 to 1.0).
 // tx, rx for PC terminal.
Serial sabertooth(p13,p14);  // tx, rx for Sabertooth.

//Use X4 encoding.
//QEI wheel(PTD5 A, PTD4 B, NC, 200, QEI::X4_ENCODING);
//Use X2 encoding by default.
QEI wheel (p21, p22, NC, 1024);//

double len =0;

int main() {
    sw.mode(PullUp);
    sw2.mode(PullUp);
    
    sabertooth.baud(9600); // Set baudrate of serial port for Sabertooth.
    //char cmd_1=0 ;
    sabertooth.putc(0);   // Send "Stop" to Motor 1 and 2.
    //double j=0;
    t.start();
    
    while(1){
    
    len = wheel.getPulses()*(157.0/(1024.0*2.0));//一回転で進む距離
    pc.printf("lenghth is: %.0f mm\n", len);
    pc.printf("pulse: %d \n", wheel.getPulses());
    
    
    pc.printf("%.0f seconds\n", t.read());
    
    
    if(sw.read()== 1 ){
        if(lim1 == 0){
            //cmd_1 = (char)(80);//full_reverse=1 forward,stop=63,full=127 back
            sabertooth.putc(207);   // Output cmd_1 to Motor 1(Right).
            }
        else{
            sabertooth.putc(191);   // Output cmd_1 to Motor 1(Right).
            }
        }
          
    else if(sw2.read()== 1 ){
        if(lim2 == 0){
            //cmd_1 = (char)(80);//full_reverse=1 forward,stop=63,full=127 back
            sabertooth.putc(172);   // Output cmd_1 to Motor 1(Right).
            }
        else{
            sabertooth.putc(191);   // Output cmd_1 to Motor 1(Right).
            }
          }
          
    else{
            sabertooth.putc(191);   // Output cmd_1 to Motor 1(Right).
            }
        
        wait_ms(1);
        //j++;
    }
    }