File content as of revision 0:4591ba678a39:

#include "mbed.h"
#include "MODSERIAL.h"
MODSERIAL pc(USBTX, USBRX);
DigitalOut DirectionPin1(D4);
PwmOut PwmPin1(D5);
DigitalIn Knop1(D2);
AnalogIn pot1 (A5);

Ticker mycontrollerTicker;
Ticker printTicker;
Ticker Velo;
volatile bool printer;
const float maxVelocity=8.4; // in rad/s
volatile float referenceVelocity = 0.5; //dit is de gecentreerde waarde en dus de nulstand

void velocityref_print()
{
    printer = true;
}
    
void velocity()
    {
            if (pot1.read()>0.5f)
                {
                // Clockwise rotation
                referenceVelocity = (pot1.read()-0.5f) * 2.0f; 
                }
            
            else if (pot1.read() == 0.5f)
            {
                referenceVelocity = pot1.read() * 0.0f; 
            } 
            
            else if (pot1.read() < 0.5f)
                {
                // Counterclockwise rotation      
                referenceVelocity = 2.0f * (pot1.read()-0.5f) ;
                }
        
    }
    
    void motor()
    {  
        float u = referenceVelocity;
        DirectionPin1 = u < 0.0f;
        PwmPin1 = fabs(u);
    }


int main()
{
    pc.baud(115200);    
    PwmPin1.period_us(120); //60 microseconds pwm period, 16.7 kHz 
    mycontrollerTicker.attach(motor, 0.002);//500Hz
    printTicker.attach(velocityref_print, 0.5);
    Velo.attach(velocity, 0.002);
    while(true)
    {        
        if (printer)
        {
        pc.printf("%f   \n",referenceVelocity);
        pc.printf("%f   \n",pot1.read());
        printer = false;
        }
    }
}