File content as of revision 6:bd73804c8cec:

#include "mbed.h"
#include "FastPWM.h"    // FastPWM library
#include "MODSERIAL.h"
#include "QEI.h"
MODSERIAL pc(USBTX, USBRX);
DigitalOut motor1_direction(D7);
AnalogIn pot1(A4);
InterruptIn but2(D3);
FastPWM motor1_pwm(D6); //FastPWM input, PES lecture 2
Ticker MotorInterrupt;
QEI Encoder (D12, D13, NC, 64, QEI::X4_ENCODING);

void Motor()
{
    // Aflezen Potentiometers voor PWM
    motor1_pwm = pot1.read(); // Aflezen PotMeter 1 (volatile omdat je altijd de potmeter wil blijven lezen)
    pc.printf("%i\r\n", Encoder.getPulses());
    
}
   
void buttonpress()
{
    motor1_direction = 1 - motor1_direction;
    float motor1_velocity = pot1.read() *2.0;
   
    pc.printf("Velocity is %f \r\n", motor1_velocity);
}

/*double GetReferenceVelocity()
{
    // Returns reference velocity in rad/s. 
    // Positive value means clockwise rotation.
    // 60 rpm = 60*2*pi/60 = 6.28 ~ 6.2 rad/s
    const float maxVelocity = 6.2; // in rad/s of course!    
    double referenceVelocity;  // in rad/s
    if (button2)   {
        // Clockwise rotation      
        referenceVelocity = potMeterIn * maxVelocity;  
        } 
        else 
        {
        // Counterclockwise rotation       
        referenceVelocity = -1*potMeterIn * maxVelocity;   
        }
    return referenceVelocity; 
} */


int main()
{
    pc.baud(115200);
    motor1_pwm.period_us(60.0); // 60 microseconds PWM period, 16.7 kHz, defines all PWM pins (only needs to done once), FastPWM variabele
    MotorInterrupt.attach(Motor, 0.5); // Ticker die de functie Motor aanroept elke halve seconde, meer tijd is tragere respons op potmeter
    but2.rise(buttonpress);
    while(true){} // Endless loop  
}