File content as of revision 1:4088422c9f8a:

#include "QEI.h"
#include "mbed.h"
Serial pc(USBTX, USBRX);

AnalogOut pwm    (p18);
DigitalOut pin_a  (p19);
DigitalOut pin_b  (p20);
DigitalIn IRpin(p16);
DigitalIn IRpin2(p17);
int ir,ir2;
long     counts_per_rev = (64);
double   prv_ang        = 0.0;
double   now_ang;
double   now_omg        = 0.0;
double   prv_time       = 0.0;
double   now_time       = 0.0;
double   samp_time      = 0.0;
//double   now_x          = 0.0;
//double   now_y          = 0.0;

QEI wheel (p29, p30, NC, counts_per_rev, QEI::X4_ENCODING);

float pulsesToDegrees(float pulses)
{
    return ((pulses/counts_per_rev)*360);
}

int main()
{
    Timer myTime;
    myTime.reset();
    myTime.start();
    pc.baud(57600);
    while(1) {
        ir        = IRpin.read();
        ir2       = IRpin2.read();
        now_time  = myTime.read_ms()/1000.0;
        samp_time = now_time - prv_time;
        now_ang   = pulsesToDegrees(wheel.getPulses());
        now_omg   = (now_ang - prv_ang)/samp_time;
        if(ir == 0 && ir2 == 1)
        {
        pwm   = 0.8 ; 
        pin_a = 1;
        pin_b = 0;
        }
        else if(ir == 1 && ir2 == 0)
        {
         pwm   = 0.8 ; 
        pin_a = 0;
        pin_b = 1;
        }
        else
        {
        pwm   = 0.8 ; 
        pin_a = 0;
        pin_b = 0;
        }       
        pc.printf("%d   %d  %f\r",ir,ir2,now_omg);
        printf("\n\r");
        prv_ang  = now_ang;
        prv_time = now_time;
    }
}