File content as of revision 12:1ecd11dc2c00:

#include "mbed.h"
#include "FastPWM.h"    // FastPWM library
#include "MODSERIAL.h"
#include "QEI.h"
#include <math.h>
MODSERIAL pc(USBTX, USBRX);
DigitalOut Motor1DirectionPin(D7);
FastPWM Motor1MagnitudePin(D6); //FastPWM input
AnalogIn potMeter1(A4);
AnalogIn potMeter2(A5);
InterruptIn button2(D3);
QEI Encoder (D12, D13, NC, 64, QEI::X4_ENCODING);

//Tickers
Ticker MeasureControl;
Ticker MakeMotorRotate;

//Global variables
volatile double measuredPosition = 0.0;
volatile double referencePosition = 0.0; 
volatile double motorValue = 0.0;
volatile double Kp = 0.0;
volatile double 

/*void Motor()
{
    // Aflezen Potentiometers voor PWM
    motor1_pwm = potMeter1.read(); // Aflezen PotMeter 1
} */

/*void changeDirectionButton()
{
    Motor1DirectionPin = 1 - Motor1DirectionPin; //
    pc.printf("Motor direction value %i \r\n", Motor1DirectionPin);
} */

double GetReferencePosition()
{
   double potMeterIn = potMeter1.read();
   double referencePosition = 4*3.14*potMeterIn - 2*3.14 ; // Reference value y, scaled to -2 to 2 revolutions (or 0 to 100 pi)
   return referencePosition;
}

void GetMeasuredPosition()
{
    double counts = Encoder.getPulses();
    measuredPosition = ( counts / 4.0 * 64.0) * 6.28; // Rotational position in radians   
} 

void PositionGain()
{
    double Kp = 10.0*potMeter2.read(); // Scale 0 to 10
}

double Error()
{
    double error = referencePosition - measuredPosition;
    return error;
}

double FeedbackControl(double Error)
{  // Proportional part:  
    double u_k = Kp * Error;
    // Sum all parts and return it 
    return u_k;   
 }
 
void SetMotor1(double motorValue)
{
    // Given -1<=motorValue<=1, this sets the PWM and direction
    // bits for motor 1. Positive value makes motor rotating
    // clockwise. motorValues outside range are truncated to
    // within range
    if (motorValue >=0) 
    {
        motor1DirectionPin=1;
    }
    else
    {
        motor1DirectionPin=0;
    }
    if (fabs(motorValue)>1) 
    {
        motor1MagnitudePin = 1;
    }
    else 
    {
        motor1MagnitudePin = fabs(motorValue);
    }
}
//-----------------------------------------------------------------------------
// Ticker
void MeasureAndControl(void)
{
    // This function determines the desired velocity, measures the   
    // actual velocity, and controls the motor with 
    // a simple Feedback controller. Call this from a Ticker.
    float referencePosition = GetReferencePosition();
    float measuredPosition = GetMeasuredPosition();
    float error = Error();
    float motorValue = FeedbackControl(error);
    SetMotor1(motorValue);

//-----------------------------------------------------------------------------
int main()
{
    //Initialize once
    pc.baud(115200);
    motor1MagnitudePin.period_us(60.0); // 60 microseconds PWM period, 16.7 kHz, defines all PWM pins (only needs to done once), FastPWM variabele
    MeasureControl.attach(MeasureAndControl, 0.01);
    
    //Other initializations
    button2.rise(changeDirectionButton);
          
    while(Error != 0)          // when reference postion is reached, stop with the while loop
    {
        MakeMotorRotate.attach(SetMotor,0.5);
    }
}