File content as of revision 8:895d941a5910:

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

DigitalOut directionpin1(D4);
PwmOut pwmpin1(D5);
AnalogIn potmetervalue1(A1);
DigitalIn button2(D9);          //klopt dit?
InterruptIn encoderA(D9);
InterruptIn encoderB(D8);

DigitalOut directionpin2(D7);
PwmOut pwmpin2(D6);
AnalogIn potmetervalue2(A2);

MODSERIAL pc(USBTX, USBRX);

int encoder = 0;
   
   
void encoderA_rise()       
{
    if(encoderB==false)
    {
        encoder++;
    }
    else
    {
        encoder--;
    }
}

void encoderA_fall()      
{
    if(encoderB==true)
    {
        encoder++;
    }
    else
    {
        encoder--;
    }
}

void encoderB_rise()       
{
    if(encoderA==true)
    {
        encoder++;
    }
    else
    {
        encoder--;
    }
}

void encoderB_fall()      
{
    if(encoderA==false)
    {
        encoder++;
    }
    else
    {
        encoder--;
    }
}



int main()
{ 
    pc.baud(115200);
    pc.printf("hello\n\r");
    pwmpin1.period_us(60); //60 microseconds PWM period, 16.7 kHz 

    encoderA.rise(&encoderA_rise);
    encoderA.fall(&encoderA_fall);
    encoderB.rise(&encoderB_rise);
    encoderB.fall(&encoderB_fall);
    
    while (true)
    {
          
          float u1 = potmetervalue1;
          float u2 = potmetervalue2;
          
          float m1 = ((u1*2.0f)-1.0f);
          float m2 = ((u2*2.0f)-1.0f);
        
        pwmpin1 = fabs(m1*0.6f)+0.4f;     //pwm duty cycle can only be positive, floating, 0.4f is "inefficiënt", dit tellen we erbij op, en keer 0.6 om te corrigeren voor de helling.        
        directionpin1.write(m1>0);        //Indien waar, motor draait rechtsom. Indien niet waar, motor draait linksom. 
        wait(0.01f);                   //zodat de code niet oneindig doorgaat.
        pwmpin2 = fabs(m2*0.6f)+0.4f;    
        directionpin2.write(m2>0);   
        
        double angle_encoder = encoder*2*pi/8400
        pc.printf("Encoder count: %i\n\r",encoder); 
    }
}