File content as of revision 0:97879c8efe59:

//Module8-9
//Nucleo Board 1 (Master)

#include "mbed.h"
#include <Map.hpp>

Serial pc(USBTX, USBRX);

SPI master(PA_7, PA_6, PA_5);       //SPI1_MOSI, SPI1_MISO, SPI1_SCLK
SPI mstrEnc1(PB_15, PB_14, PB_13);  //SPI2_MOSI, SPI2_MISO, SPI2_SCLK
SPI mstrEnc2(PC_12, PC_11, PC_10);     //SPI3_MOSI, SPI3_MISO, SPI3_SCLK

DigitalOut csMstr(PA_15);           //SPI1_SSEL Master
DigitalOut csEnc1(PB_12);           //SPI2_SSEL Encoder 1
DigitalOut csEnc2(PA_4);            //SPI3_SSEL Encoder 2


//Parameters

char array[4];
char arraySize = sizeof(array);
char getData = 0;
char checkData = 0;
char encArr[2]= {255,255};
char encLength = 2;
bool start = false;

/////////////////////////////

//Functions

void RX(int data){
    array[checkData] = data;
    checkData++;
    if(checkData == arraySize){
        getData = 1;
        checkData = 0;
    }
}

void RX_INT(){
    int data = pc.getc();
    RX(data);
}

float ConvertAngle(int encData){
    Map map(0, 16383, 0, 359);
    float angle = map.Calculate(encData);
    return angle;
    }

float readEnc1(){
    //Encoder1 = LOW
    csEnc1 = 0;
    char *arrAdd = &encArr[0];
    int encData = mstrEnc1.write(arrAdd, 2, arrAdd, 2);
    encData = encArr[0] * 256 + encArr[1];
    csEnc1 = 1;
    return ConvertAngle(encData/2);
}

float readEnc2(){
    //Encoder2 = LOW
    csEnc2 = 0;
    char *arrAdd = &encArr[0];
    int encData = mstrEnc2.write(arrAdd, 2, arrAdd, 2);
    encData = encArr[0] * 256 + encArr[1];
    csEnc2 = 1;
    return ConvertAngle(encData/2);
}

//Main

int main() {
    pc.baud(9600);
    RX_INT();
    pc.attach(&RX_INT, Serial::RxIrq);
    
    csMstr = 1;
    csEnc1 = 1;
    csEnc2 = 1;
    
    master.format(8,3);
    master.frequency(1000000);
    mstrEnc1.format(14, 3);
    mstrEnc1.frequency(500000);
    mstrEnc2.format(14, 3);
    mstrEnc2.frequency(500000);
    
    
//Program Loop    
    while(true){
        if(getData == 1){
            for(char i = 0; i < arraySize; i++){
                //printf("array[%d] = %d\n", i,array[i]);
//                csMstr = 0;
//                master.write(array[i]);
//                int masterData = master.write(0x00);
//                printf("masterData = %d\n", masterData);
                pc.putc(array[i]);
            }
            if(array[2] == 122){ //receive 'z'
                start = true;
                csMstr = 0;
                master.write(array[3]);
                int masterData = master.write(0x00);
                //printf("masterData = %d\n", masterData);
                //state = 0;
                csMstr = 1;
                pc.putc(masterData);
                pc.putc('A');
                
//                wait(1);
            }
            
            getData = 0;
        }
        if(start == true){
            float encData1 = readEnc1();
            float encData2 = readEnc2();
            printf("Encoder1 = %.2f     ", encData1);
            printf("Encoder2 = %.2f \n\r", encData2);
        }
        
    }
    
    
    
    
}