File content as of revision 2:6d3f3d1bcef7:

#include "mbed.h"
#include "FastPWM.h"
#include "MODSERIAL.h"
MODSERIAL pc(USBTX, USBRX);

Ticker motor; // ticker function
FastPWM pwmpin1(D5); // SPECIFIC PIN (hoeft niet aangesloten te worden) Tells you how fast the motor has to go (later: pwmpin.write will tell you the duty cycle, aka how much voltage the motor gets)
FastPWM pwmpin2(D6); // SPECIFIC PIN (hoeft niet aangesloten te worden) Tells you how fast the motor has to go (later: pwmpin.write will tell you the duty cycle, aka how much voltage the motor gets)
DigitalOut directionpin1(D4); // SPECIFIC PIN (hoeft niet aangesloten te worden) Direction value (0-1) that the mbed will give the motor: in which direction the motor must rotate
DigitalOut directionpin2(D7); // SPECIFIC PIN (hoeft niet aangesloten te worden) Direction value (0-1) that the mbed will give the motor: in which direction the motor must rotate
AnalogIn potmeter1(A0); // Analoge input van potmeter 1
AnalogIn potmeter2(A1); // Analoge input van potmeter 2

volatile float pot1;
volatile float pot2;
volatile float pot1_scale;
volatile float pot2_scale;
volatile float u1;
volatile float u2;

void motorfunction()
{       pot1 = potmeter1.read();          // Reads out value potmeter 1 between 0-1
        pot1_scale = pot1*2 -1;           // Scales value potmeter from 0-1 to -1 - 1.
        pot2 = potmeter2.read(); 
        pot2_scale = pot2*2 -1;           // Scales value potmeter from 0-1 to -1 - 1.        
        u1 = pot1_scale;                  // motor control signal
        u2 = pot2_scale;                  // motor control signal
        directionpin1 = u1 > 0.0f;              //either true or false, determines direction (0 or 1)
        directionpin2 = u2 > 0.0f;              //either true or false
        pwmpin1 = fabs(u1);                     //pwm duty cycle can only be positive, floating point absolute value (if value is >0, the there still will be a positive value).
        pwmpin2 = fabs(u2);                     //pwm duty cycle can only be positive, floating point absolute value (if value is >0, the there still will be a positive value).
}

int main()
{
    pwmpin1.period_us(60.0); //60 microseconds PWM period, 16.7 kHz, defines all PWM pins (only needs to be done once)
    pc.baud(115200);
    motor.attach(motorfunction,0.5);
    while(true){
           pc.printf("%f \n, %f \n, %f\n", pot1,pot1_scale, u1);
           wait(1.0f);
           } //Lege while loop zodat functie niet afloopt
}