File content as of revision 0:e4858e2df9c7:

#include "mbed.h"
//#include "HIDScope.h"
#include "QEI.h"
#include "MODSERIAL.h"
//#include "BiQuad.h"
#include "FastPWM.h"

// Button and potmeter control
InterruptIn button1(D11);
InterruptIn button2(D10);
AnalogIn potmeter(A0);

// Encoder
DigitalIn encA(D13);
DigitalIn encB(D12);
QEI encoder(D13,D12,NC,64,QEI::X4_ENCODING);

// Motor
DigitalOut motor2Direction(D4);
FastPWM motor2Power(D5);
DigitalOut motor1Direction(D7);
FastPWM motor1Power(D6);

//Motorcontrol
bool motordir;
double motorpwm;
double u;
double potValue;

// PC connection
MODSERIAL pc(USBTX, USBRX);

// Intializing tickers
Ticker motorTicker;
Ticker controlTicker;
Ticker directionTicker;

const float PWM_period = 1e-6;

volatile int counts; // Encoder counts
volatile int countsPrev = 0;
volatile int deltaCounts;

// motor1Direction = 1;
volatile int motor1Toggle = 1;

float factorin = 6.23185/64; // Convert encoder counts to angle in rad
float gearratio = 131.25; // Gear ratio of gearbox

void motorControl()
{
    potValue= potmeter.read();
    u= (potValue*2)-1;
    motorpwm= abs(u);
    if (u<0){
        motordir= 0;}
    else {
         motordir= 1;}
    motor1Power.pulsewidth(motorpwm * PWM_period * motor1Toggle);
    motor1Direction= motordir;
}


int main()
{
    pc.baud(115200);
    pc.printf("\r\nStarting...\r\n\r\n");
    
    motor1Power.period(PWM_period);
    motorTicker.attach(motorControl, 0.01);
    
    while (true) {
        float potValue = potmeter.read(); // Read potmeter

        pc.printf("Potmeter: %f \r\n", potValue);
        wait(0.5);
    }
}