File content as of revision 1:7c3dbf140bfc:

#include"mbed.h"
#include "move.h"
#include "PID.h"

InterruptIn encoderA(D6);
InterruptIn encoderB(D5);
move m1;

PID P1(0.001,0.005,0,0.1);

//DigitalIn encoderB(D5);


Serial pc(SERIAL_TX,SERIAL_RX);
 int Encoderpos = 0;
 float valocity =0;
 float outPID =0;

void EncoderA()
{   if(encoderB==0)
        { Encoderpos = Encoderpos + 1;}
    else
   { Encoderpos = Encoderpos -1;}
   
   //Encoderpos = Encoderpos + 1;
   valocity+=1;
  // pc.printf("%d \n",Encoderpos);
}
  

void EncoderB()
{ 
    if(encoderA==1)
    { Encoderpos = Encoderpos + 1;}
    else
    { Encoderpos = Encoderpos -1;}
    pc.printf("%d",Encoderpos);
}

int main()
{
   
    pc.baud(115200);
    encoderA.rise(&EncoderA);
   //pc.printf("Encode\n");
        P1.setMode(0);
        P1.setProcessValue(0.7);
       P1.setSetPoint(0.8);
      //  P1.setBias(0);
    while(1)
    {  P1.setProcessValue(0.7);
       P1.setSetPoint(0.8);
       outPID=P1.compute();
    //   pc.printf("palm \n");
        pc.printf("%f  \n",outPID);
        wait(1);
    
       // pc.printf("%d \n",Encoderpos);
         
    }  
}