File content as of revision 2:f0215a034e04:

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

Serial pc(USBTX, USBRX);
QEI wheel (PTC10, PTC11, NC, 624); // Pin for counting (analog in)

// Define pin for motor control
DigitalOut directionPin(D4);
PwmOut PWM(D5);



// 8400 counts per revolution
// so 8400 / (2 *pi) is counts/pi


Ticker tellen;

volatile bool stoppen = false;

void GOTO()
{
double Offset = 10341 ;//8400 counts is aangegeven op de motor ( is te weinig) 10511 schiet iets over
double resolution = Offset / (2 * 3.14159265);
double Rotation = 4; // rotation in pi
double movement = Rotation * resolution;
   
           //  pc.printf("The number of real rotation is %i \n",Rotation);
    

        if (wheel.getPulses() <= movement) {
            directionPin.write(1);
            PWM.write(0.3);
            pc.printf("Pulses is: %i\n", wheel.getPulses());
        } else {
            PWM.write(0);
            //pc.printf("The motor turned %i rotations \n",Rotation);
            pc.printf("Pulses is: %i\n The motor turned %.2f  pi rotations\n", wheel.getPulses(),wheel.getPulses()/resolution);
            stoppen = true;
        

    }
                   
         
    

}



int main()

{
   int proberenn = 1000;
       pc.printf("The number of rotation is %i \n",proberenn);
       
      while(1){
    if(stoppen == false){ // doet eerst de while loop en dan begint hij met de ticker
            tellen.attach(&GOTO, 0.1); 
              pc.printf("dit is if \n");
        stoppen = true;
            } else
            {
       
           pc.printf("wees geen bitch \n");
           
           }
           
         }
}