File content as of revision 20:a0d027b80d2c:

/*******************************************************
              DC MODOR CONTROLLER LIBRARY
 *******************************************************           
         IMPORTANT: GO TO README FOR DOCUMENT!
********************************************************/

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


DC_Motor_PID motor(D6,D3,D4,D5,792); //M1, M2, INA, INB, PPR 
DigitalIn but(D7);
// angle = 412 degree to move from one to another
// angle = 100 degree to

DigitalOut led1(LED1);
DigitalOut led2(LED2);

int main() {
    Serial pc(USBTX, USBRX);  // tx, rx
    pc.baud(9600);
    motor.set_pid(0.008, 0, 0, 0.10);
    
    but.mode(PullUp);
    
    while(1){
    
    wait(0.5);
    motor.set_out(0,0.4);
    while(1)
    {
            pc.printf("%g \n", but);
            if(but) { motor.set_out(0,0); pc.printf("\nend: %d \n", motor.get_pulse()); break;}
    }
    
    wait(0.5);
    motor.reset();
    wait(0.5);
    motor.move_angle(-250);
    wait(2);
    }
    
}