File content as of revision 2:9d0e816d6483:

#include "mbed.h"
#include "Encoder.h"
#include "math.h"
#include "Phaserunner.h"

Encoder encoder; 
RawSerial pedalL(PC_10, PC_11, 115200);
RawSerial pedalR(PC_12, PD_2, 115200); 
Phaserunner linkspedal(pedalL);
Phaserunner rechtspedal(pedalR); 

int main(){
    DigitalOut PedalL_ON_OFF(PC_14);
    DigitalOut PedalR_ON_OFF(PC_15);
    
    InterruptIn NullStell(PA_13);  
    Serial pc(USBTX,USBRX);
    DigitalOut led(LED2);
    DigitalOut ON_OFF(PH_1);
    
    DigitalOut Abvorne(PB_7);
    DigitalOut Abhinten(PC_13);
 
    ON_OFF = true;

    uint32_t pulses=0, pulsesOld=0, p,pOld;;
    double angle_rad, angle_grad, angleOld=0;
    float a=0.0f,b=0.0f,beta=0.0f; // Ellipse Parameters
    float R=0.0f, phi=0.0f;

    PedalL_ON_OFF = true;
    PedalR_ON_OFF = true;
    wait(0.2);
    PedalL_ON_OFF = false;
    PedalR_ON_OFF = false;
    wait(0.2);
    PedalL_ON_OFF = true;
    PedalR_ON_OFF = true;


    led = false;
    pc.printf("Hello bike");
    //NullStell.rise(&GetNull);
    while(1){
       
        //rev = Encoder.getRevolutions();
        pulses = encoder.read();
        angle_rad = encoder.readAngle();
        p = TIM3->CNT;

        if(p != pOld){
           pc.printf("p: %d\n\r",p);
        }
        if(pulses != pulsesOld){
           pc.printf("pulses: %d\n\r",pulses);
        }
        if(angle_rad != angleOld){
            pc.printf("Angle: %.3f\n\r",angle_rad);
        }
        phi = angle_rad;
        
        // Calcolation of R 
        float P_Factor = 0.5f;
        a = 1.0f;
        b = 0.5f;
        beta = 0.0f;
        R=sqrt(pow(a,2) * pow(sin(beta + phi),2) + pow(b,2) * pow(cos(beta + phi),2)); // Torque in function of the Elipse parameters
        
        //linkspedal.setTorque(R*P_Factor);
        //rechtspedal.setTorque(R*P_Factor);
        //pc.printf("Torque: %f\n\r",R*P_Factor);
        angleOld = angle_rad;
        pulsesOld = pulses;
        pOld = p;
        
        wait_ms(20);
        
    }
    
    
    
}