File content as of revision 1:6747911cdd90:

/*LAB_DCMotor*/
#include "mbed.h"

//The number will be compiled as type "double" in default
//Add a "f" after the number can make it compiled as type "float"
#define Ts 0.01f    //period of timer1 (s)

PwmOut pwm1(D7);
PwmOut pwm1n(D11);
PwmOut pwm2(D8);
PwmOut pwm2n(A3);

DigitalOut led1(A4);
DigitalOut led2(A5);

//Motor1 sensor
InterruptIn HallA_1(A1);
InterruptIn HallB_1(A2);
//Motor2 sensor
InterruptIn HallA_2(D13);
InterruptIn HallB_2(D12);

Serial pc(D1, D0);

Ticker timer1;
void timer1_interrupt(void);
void CN_interrupt(void);

void init_TIMER(void);
void init_PWM(void);
void init_CN(void);

int8_t stateA_1=0, stateB_1=0, stateA_2=0, stateB_2=0;
int8_t state_1 = 0, state_1_old = 0, state_2 = 0, state_2_old = 0;

int v1Count = 0;
int v2Count = 0;

float v1 = 0.0, v1_ref = 0.0;
float v1_err = 0.0, v1_ierr = 0.0, PIout_1 = 0.0, PIout_1_old = 0.0;
float v2 = 0.0, v2_ref = 0.0;
float v2_err = 0.0, v2_ierr = 0.0, PIout_2 = 0.0, PIout_2_old = 0.0;

int main() {
    
    init_TIMER();
    init_PWM();
    init_CN();
    
    v1_ref = 0.0;
    v2_ref = 0.0;
    
    while(1) {
        ;
    }
}

void timer1_interrupt(void)
{
    //Motor 1
    v1 = (float)v1Count * 100.0f / 12.0f * 60.0f / 29.0f;   //unit: rpm
    v1Count = 0;
    
    ///code for PI control///
    
    
    /////////////////////////
    
    if(PIout_1 >= 0.5f)PIout_1 = 0.5f;
    else if(PIout_1 <= -0.5f)PIout_1 = -0.5f;
    pwm1.write(PIout_1 + 0.5f);
    TIM1->CCER |= 0x4;
    
    
    //Motor 2
    v2 = (float)v2Count * 100.0f / 12.0f * 60.0f / 29.0f;   //unit: rpm
    v2Count = 0;
    
    ///code for PI control///
    
    
    /////////////////////////
    
    if(PIout_2 >= 0.5f)PIout_2 = 0.5f;
    else if(PIout_2 <= -0.5f)PIout_2 = -0.5f;
    pwm2.write(PIout_2 + 0.5f);
    pwm2.write(0);
    TIM1->CCER |= 0x40;
}

void CN_interrupt(void)
{
    //Motor 1
    stateA_1 = HallA_1.read();
    stateB_1 = HallB_1.read();
    
    ///code for state determination///
    
    
    //////////////////////////////////
    
    //Forward
    //v1Count +1
    //Inverse
    //v1Count -1
    
    
    //Motor 2
    stateA_2 = HallA_2.read();
    stateB_2 = HallB_2.read();
    
    ///code for state determination///
    
    
    //////////////////////////////////
    
    //Forward
    //v2Count +1
    //Inverse
    //v2Count -1
}

void init_TIMER(void)
{
    timer1.attach_us(&timer1_interrupt, 10000);//10ms interrupt period (100 Hz)
}         
   
void init_PWM(void)
{
    pwm1.period_us(50);
    pwm1.write(0.5);
    TIM1->CCER |= 0x4;
    
    pwm2.period_us(50);
    pwm2.write(0.5);
    TIM1->CCER |= 0x40;
}

void init_CN(void)
{
    HallA_1.rise(&CN_interrupt);
    HallA_1.fall(&CN_interrupt);
    HallB_1.rise(&CN_interrupt);
    HallB_1.fall(&CN_interrupt);
    
    HallA_2.rise(&CN_interrupt);
    HallA_2.fall(&CN_interrupt);
    HallB_2.rise(&CN_interrupt);
    HallB_2.fall(&CN_interrupt);
    
    stateA_1 = HallA_1.read();
    stateB_1 = HallB_1.read();
    stateA_2 = HallA_2.read();
    stateB_2 = HallB_2.read();
}