File content as of revision 2:9d23d93d097f:

#include "mbed.h"
#include "MODSERIAL.h"
#include "motor.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

float motor_angle1 = 2;                     // Set motor angle to arbitrary value for first loop
float motor_angle2 = 2;
float time_passed_in_this_state1 = 0;       // Time passed in the final state of motor 1
float time_passed_in_this_state2 = 0;       // Time passed in the final state of motor 2

void Motor1_Calibration()
{   
    if (0.9 * motor1.get_current_angle() <= motor_angle1 <= 1.1 * motor1.get_current_angle())     // If the motor angle is within a margin of the current motor anlge
    {
        time_passed_in_this_state1++;
    }
    else
    {
        motor_angle1 = motor1.get_current_angle();
        motor_angle1 = motor_angle1 - 0.0174533;    // Subtracting one degree angle from the current angle
        motor1.set_target_angle(motor_angle1); 
        time_passed_in_this_state1 == 0;            // Set time passed in this state back to zero
    }
    
    if (time_passed_in_this_state1 >= 10)           // After 5 seconds have passed (10 times Ticker motor_calib)
    {
        motor1.set_current_angle_as_zero();
        calibLED1 = 0;                              // LED becomes blue (purple if both motors are calibrated)
    }
}

void Motor2_Calibration()
{   
    if (0.9 * motor2.get_current_angle() <= motor_angle2 <= 1.1 * motor2.get_current_angle())     // If the motor angle is within a margin of the current motor anlge
    {
        time_passed_in_this_state2++;
    }
    else
    {
        motor_angle2 = motor2.get_current_angle();
        motor_angle2 = motor_angle2 - 0.0174533;    // Subtracting one degree angle from the current angle
        motor2.set_target_angle(motor_angle2); 
        time_passed_in_this_state2 == 0;            // Set time passed in this state back to zero
    }
    
    if (time_passed_in_this_state2 >= 10)           // After 5 seconds have passed (10 times Ticker motor_calib)
    {
        motor2.set_current_angle_as_zero();
        calibLED2 = 0;                              // LED becomes red (purple if both motors are calibrated)
    }
}

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(Motor1_Calibration,0.5);    // Ticker for motor calibration fucntion
    while (true) {}                         // Empty while loop to keep function from stopping
}