File content as of revision 2:933d3edf38da:

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

InterruptIn encoderA(D6);
InterruptIn encoderB(D5);
Timer timerStart;
move m1;
PID P1(0.001,0,0,0.1);

//DigitalIn encoderB(D5);


Serial pc(SERIAL_TX,SERIAL_RX);
 int Encoderpos = 0;
 float valocity =0;
 float outPID =0,i=0;
 double Input,Output,setp,Kp=0.005,Ki=0.005,Kd=0;
// pid1 p(&Input,&Output,&setp,Kp,Ki,Kd,1);

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);
    timerStart.start();
    
   
       P1.setMode(1);
       P1.setProcessValue(0.7);
       P1.setSetPoint(0.8);
       P1.setBias(0);
    while(1)
    {  
        m1.movespeed(1,1.0);
        outPID=P1.compute();
        pc.printf("%f  \n",outPID);
        wait(0.1);
    
       // pc.printf("%d \n",Encoderpos);
         
    }  
}