File content as of revision 4:2ee0d20f624b:

#include "mbed.h"
#include "QEI.h"
#define SERIAL_BAUD 115200

//initial allocations
DigitalOut dirpin(D4);
DigitalOut dirpin2(D7);
PwmOut pwmpin(D5);
PwmOut pwmpin2(D6);
QEI Encoder(D12,D13,NC,64,QEI::X4_ENCODING);
QEI Encoder2(D10,D11,NC,64,QEI::X4_ENCODING);

Serial pc(USBTX,USBRX);

//volatiles
volatile int counts_prev=0;
volatile int counts2_prev=0;
volatile int count;
volatile int count2;
volatile float pos1=0.1;
volatile float pos2=0.1;
volatile float pos3=0.1;
int position;



//functions (2 functions not finished)
int counts(){
    counts_prev=count;
    int count=Encoder.getPulses();
    return count;}
int counts2(){
    counts2_prev=count2;
    int count2=Encoder2.getPulses();     //MAAK NOG AF MET PREVIOUS COUNTS ONTHOUDEN.
    return count2;}
int counter(int a){
    int b=abs(counts2()-a);
    return b;}

void pos_store(int a){                       //store position in counts to know count location of the ends of bridge

    if (pos1 == 0.1){
        pos1=a;}
    else if (pos2 == 0.1){
        pos2=a;}
    else if (pos3 == 0.1){
        pos3=a;}
    else {}}
    
void translation_start(int a, int b){            //start rail motor
    dirpin.write(a);
    pwmpin = b;}                        
void translation_stop(){                //stop rail motor
    pwmpin = 0;}     
void rotate_start(int a, int b){                    //start rotation of disk
    dirpin2.write(a);
    pwmpin2 = b;} 
void rotate_stop(){                     //stop rotation of disk
    pwmpin2 = 0;} 


//main function
int main(){
    pc.baud(115200);                  
    pc.printf("start\r\n");
    
    pwmpin.period_us(60);
    
    //parameters
    int caltime=30;             //calibration time until condition has been met, caltime=(time/0.1)  
    float speed=0.50f;
    int dir=0;
    int counts2_end=10000;          //amount of counts for 360 degrees rotation of main disk --> many revolutions of motor
    
    //move towards end
    for (int m=1;2;m++){
        translation_start(dir,speed);
        //when motor counts do not change anymore, change direction
        int n=1;
        while(n=1){
            /*for (n=1;caltime;n++){
                if (counts()!=counts_prev){
                    n=0;}
                else {}
                wait(0.1);}*/
            wait(5);
            translation_stop();    
            position=counts();}
        dir=dir+1;
        pos_store(position);}   //stores position integer
    
    //Check if a full circle can be made without obstruction
        //Try adding a timer as well, you know how long it should take, how long does it actually take? Does that matter?
    int counter2=counts2();
    rotate_start(dir, speed);
    
    while(1){
        if (counter(counter2)>=counts2_end){
            break;}
        else {}
        wait(0.01);}
    rotate_stop();
    pos_store(counts2());   
    printf("position 1 = %f, position 2 = %f, position 3 = %f /n",pos1,pos2,pos3);
    printf("done");
    //End sequence?    
    }