File content as of revision 0:e79700919e2e:

#include "mbed.h"

#define wheelc 0.1759292
#define pi 3.141592654
#define degreel 0.021988888
//Status LED
DigitalOut led(LED1);

//Motor PWM (speed)
PwmOut PWMA(PA_8);
PwmOut PWMB(PB_4);

//Motor Direction
DigitalOut DIRA(PA_9);
DigitalOut DIRB(PB_10);

//Hall-Effect Sensor Inputs
InterruptIn HEA1(PB_2);
DigitalIn HEA2(PB_1);
InterruptIn HEB1(PB_15);
DigitalIn HEB2(PB_14);

//On board switch
DigitalIn SW1(USER_BUTTON);

//Use the serial object so we can use higher speeds
Serial terminal(USBTX, USBRX);

//Timer used for measuring speeds
Timer timer;

//Enumerated types
enum DIRECTION   {FORWARD=0, REVERSE};
enum PULSE           {NOPULSE=0, PULSE};
enum SWITCHSTATE {PRESSED=0, RELEASED};

//Debug GPIO
DigitalOut probe(D10);

//Duty cycles
float dutyA = 1.000f; //100%
float dutyB = 1.000f; //100%

//distance measurement
float distanceA ;
float distanceB ;
float speedA ;
float speedB ;
float pretimerA;
float afttimerA;
float pretimerB;
float afttimerB;
float wheel_spacing = 0.128;

//Completed Loop
int loop=0;

int turn();
void ResetDistanceTimeSpeed()
{
    distanceA=0;
    distanceB=0;
    speedA=0;
    speedB=0;
    pretimerA=0;
    pretimerB=0;
    afttimerA=0;
    afttimerB=0;
    timer.reset();
    timer.start();
}

void stopmotors()
{
    PWMA.write(0.0f);       //0% duty cycle
    PWMB.write(0.0f);       //0% duty cycle
}

int forward(float distance, float speed)
{
    //add forward to input with switch for scalability
    // Set motor direction forward
    DIRA = FORWARD;
    DIRB = FORWARD;

        //reset distance
    ResetDistanceTimeSpeed();
    
    // Set motor speed to input speed
    PWMA.write(0.1);          //Set duty cycle (%)
    PWMB.write(0.1);          //Set duty cycle (%)


    //wait for run to complete
    while (((distanceA+distanceB)/2) < distance) {
        
            if (speedA<speed){
                                   
                    dutyA += (float)0.0051;
          PWMA.write(dutyA);
            }
            if( speedA>speed){
                dutyA -= (float)0.0051;
        PWMA.write(dutyA);
            }
            
            if (speedB<speed){
                                   
                    dutyB += (float)0.0051;
          PWMB.write(dutyB);
            }
            if( speedB>speed){
                dutyB -= (float)0.0051;
        PWMB.write(dutyB);
            }
            
    }
        return 1;
    }

int turn(float degrees, float duty, int direction) // (Degrees of Turn, Speed, (Anti/Clock)wise)
 
{
    // Calculate Turn Distance
    float distance=0;
    distance=((float)degreel*degrees);
    //Set Initial Motor Direction
    DIRA = FORWARD;
    DIRB = FORWARD;
 
    // Test for Loop Completion to Enter Victory Spin
    if(direction==REVERSE) {
        DIRA = REVERSE;
        DIRB = REVERSE;
    }
 
    // Set Motor Speed for Outside Wheel
    PWMA.write(duty);          //Set duty cycle (%)
    PWMB.write(0.0f);          //Set duty cycle (%)
 
    // Reset Distance Travelled
        ResetDistanceTimeSpeed();
    // Wait for Turn to Complete
    while (distanceA < distance) {
    }
    return 1;
}

    void set_distanceA() {
        float time = 0;

        afttimerA = timer.read();                      //set latest timer to equal timer
        distanceA += (wheelc/6);                //set distance travelled for this instruction i.e forward/turn etc
        time = afttimerA - pretimerA;             //work out time taken for last 6th of a rotation
        speedA = (time)/6;              //distance/time = average speed for last 6th rotation
        pretimerA = afttimerA;                  //update pretimer for next calculation of time
                terminal.printf("speedA %f\n\r", speedA);
    }

    void set_distanceB() {
        float time = 0;

        afttimerB = timer.read();
        distanceB += (wheelc/6);
        time = afttimerB - pretimerB;
        speedB = time/6;
        pretimerB = afttimerB;
            terminal.printf("speedB %f\n\r", speedB);
    }


    int main() {
        //Configure the terminal to high speed
        terminal.baud(115200);

        HEA1.rise(set_distanceA);
        HEB1.rise(set_distanceB);
        //Set initial motor speed to stop
        stopmotors();
        PWMA.period_ms(10);
        PWMB.period_ms(10);
        while(1) {
            //wait for switch press
            while (SW1 == PRESSED) {
                wait(0.01);
                while(SW1 == RELEASED) {

                    //navigate course
                    for (int i = 0; i<2; i++) {
                        forward(12,0.01);
                        //terminal.printf("turn\n\r");
                        turn(100,1,0);
                        //terminal.printf("forward\n\r");
                        forward(7,0.01);
                        //terminal.printf("turn\n\r");
                        turn(100,1,0);
                    }

                    stopmotors();

                    wait(0.5);

                    //victory spin
                    turn(365,1,1);

                    stopmotors();
                                        break;
                }
            }
        }
                
    }