File content as of revision 0:dbe7715dcfe9:

#include "mbed.h"
#include "QEI.h"
#include "HIDScope.h"

//info uit
HIDScope scope(3);

//encoders
QEI encoder1 (D12,D13,NC,32); // first b then a for clockwise +

//ingangen
AnalogIn pot1(A2);

//uitgangen
DigitalOut motor1_direction(D7);// draairichting motor 1 (1 is CW encoder als je daar op kijkt en CW shaft als je daar op kijkt)
PwmOut motor1_speed_control(D6);//aanstuursnelheid motor 1
//PwmOut motor2_speed_control(D5);
//DigitalOut motor2_direction(D4);
const int CW=1; //clockwise
const int CCW=0; //counterclockwise

//frequencies
//const float pwm_frequency=1000;
const double hidscope_frequency=100;
const double p_control_frequency=5;

//tickers
Ticker hidscope_ticker;
Ticker p_control_ticker;

//constants
const int cpr=32*131;
const float PI=3.1415;
const float counttorad=((2*PI)/cpr);
const float motor1_p_kp=0.5;

//go flags
volatile bool scopedata_go=false, p_control_go=false;

//acvitator functions

void scopedata_activate()
{
    scopedata_go=true;
}
void p_control_activate()
{
    p_control_go=true;
}
///////////////////////////////////////////////////////FUNCTIONS//////////////////////////////////////////////////////////////////////////

//scopedata
void scopedata()
{
    scope.set(0,2*PI*pot1.read());//gewenste hoek in rad van potmeter
    scope.set(1,counttorad*encoder1.getPulses());//hoek in rad van outputshaft
    scope.set(2,motor1_speed_control.read());//pwm signaal naar motor toe
    scope.send();
}

//re usable P controller
double p_control(float error,float kp)
{
    return (error*kp);
}

int main()
{
    //set initial shizzle
    //motor1_speed_control.period(1.0/pwm_frequency);
    motor1_speed_control.write(0);

    //tickers
    hidscope_ticker.attach(&scopedata_activate,1.0/hidscope_frequency);
    p_control_ticker.attach(&p_control_activate,1.0/p_control_frequency);

    while(1) {
        //control motor 1 with a p controller
        if (p_control_go==true) {
            float signal_motor1=p_control(2*PI*pot1.read()-counttorad*encoder1.getPulses(),motor1_p_kp);//send error to p controller
            if (signal_motor1>=0) {//determine CW or CCW rotation
                motor1_direction.write(CW);
            } else {
                motor1_direction.write(CCW);
            }

            if (fabs(signal_motor1)>=1) { //check if signal is <1
                signal_motor1=1;//if signal >1 make it 1 to not damage motor
            } else {
                signal_motor1=fabs(signal_motor1);// if signal<1 use signal
            }

            motor1_speed_control.write(fabs(signal_motor1));//write signal to motor
            p_control_go=false;
        }
        //call scopedata
        if (scopedata_go==true) {
            scopedata();
            scopedata_go=false;
        }
    }
    return 0;
}