File content as of revision 1:9c75e4cca419:

#include "mbed.h"

Motor motor1(D6, D7, D13, D12);             // Defining motor pins (PWM, direction, encoder)
Motor motor2(D5, D4, D10, D11);             // Defining motor pins (PWM, direction, encoder)
DigitalOut calibLED1(LED_BLUE);             // LED to check if calibration motor 1 is done
DigitalOut calibLED2(LED_RED);              // LED to check if calibration motor 2 is done

const float pid_period = 0.001;             // PID sample period in seconds.
const double Kp = 10.0;                     // PID proportional
const double Ki = 0.1;                      // PID integral
const double Kd = 0.5;                      // PID differential

Ticker motor_calib;                         // Ticker for motor calibration

void Motor_Calibration()
{   
    if (motor_angle1 = motor1.get_current_angle)
    {
        motor1.set_current_angle_as_zero();
        calibLED1 = 0;
        break
    }
    
    if (motor_angle2 = motor2.get_current_angle)
    {
        motor2.set_current_angle_as_zero();
        calibLED2 = 0;
        break
    }
    
    float motor_angle1 = motor1.get_current_angle;
    motor_angle1--;
    motor1.set_target_angle(motor_angle1);   
    
    float motor_angle2 = motor2.get_current_angle;
    motor_angle2--;
    motor2.set_target_angle(motor_angle2);

    
}

int main()
{
    calibLED1 = 1;
    calibLED2 = 1;
    motor1.set_pid_k_values(Kp, Ki, Kd);    // Attach PID-controller values
    motor2.set_pid_k_values(Kp, Ki, Kd);
    motor1.start(pid_period)                // Attach PID sample time
    motor2.start(pid_period);
    motor_calib.attach(Motor_Calibration,0.5);    // Ticker for motor calibration fucntion
    while (true) {}                         // Empty while loop to keep function from stopping
}