File content as of revision 1:92a60278860a:

#include "mbed.h"
#include "MODSERIAL.h"
#include "math.h"

DigitalOut gpo(D0);
DigitalOut motorDirection(D4);
PwmOut motorSpeed(D5);
AnalogIn potMeterIn(A1);
InterruptIn button1(D3);
Ticker ticker;

MODSERIAL pc(USBTX, USBRX);


float GetReferenceVelocity()
{
    // Returns reference velocity in rad/s. 
    // Positive value means clockwise rotation.
    const float maxVelocity=8.4; // in rad/s of course!  
    float referenceVelocity;  // in rad/s
    if (button1)   {
        // Clockwise rotation  
        referenceVelocity = potMeterIn * maxVelocity;
        } 
    else {
        // Counterclockwise rotation
        referenceVelocity = -1*potMeterIn * maxVelocity;
          }
    return referenceVelocity;
}

void setMotor(float motorValue) {
        if (motorValue >= 0) 
        {
            //float motor1DirectionPin1 = 1;
            motorDirection=1;
        }
        else
        {
            //float motor1DirectionPin1 = 0;
            motorDirection=0;
        }
        
        if (fabs(motorValue)>1)
        {
          //float motor1MagnitudePin1 = 1;
            motorSpeed = 1;
         }
         else  
         {
             //float motor1MagnitudePin1 = fabs(motorValue); 
             motorSpeed = fabs(motorValue); 
        }        
}

float FeedForwardControl(float referenceVelocity)
{
    // very simple linear feed-forward control
    const float MotorGain=8.4; // unit: (rad/s) / PWM
    float motorValue = referenceVelocity / MotorGain;
    return motorValue;
}


void MeasureAndControl(void)
{
    // This function measures the potmeter position, extracts a
    // reference velocity from it, and controls the motor with 
    // a simple FeedForward controller. Call this from a Ticker.
    float referenceVelocity = GetReferenceVelocity();
    float motorValue = FeedForwardControl(referenceVelocity);
    setMotor(motorValue);
}

int main() {
    pc.baud(115200);
    //ticker.attach(MeasureAndControl, 0.01);
    while(true){
        wait(0.1);
        
        //pc.printf("%f\r\n",GetReferenceVelocity());
        float v_ref = GetReferenceVelocity();
        setMotor(v_ref);
        pc.printf("%f \r\n", FeedForwardControl(v_ref));
        motorDirection.write(motorDirection);
        motorSpeed.write(motorSpeed);   //PWM Speed Control
    }
}