File content as of revision 0:9d98c838cffc:

/***********************************
name:   BERTL_2014_MOTOR_SENSOR
author: Wolfgang Raimann
email:  rai@bulme.at
description:
    Die Reifen machen nach einem Reset genau eine Umdrehung (24 Impulse)
***********************************/

#include "mbed.h"

PwmOut MotorL_EN(p34);
DigitalOut MotorL_FORWARD(P1_0);
DigitalOut MotorL_REVERSE(P1_1);

PwmOut MotorR_EN(p36);
DigitalOut MotorR_FORWARD(P1_3);
DigitalOut MotorR_REVERSE(P1_4);

InterruptIn MotorL_Sensor(P1_12);
InterruptIn MotorR_Sensor(P1_13);

DigitalOut Dio10(LED1);
DigitalOut Dio11(LED2);
DigitalOut Dio12(LED3);
DigitalOut Dio13(LED4);

volatile int cntMotorL_Sensor = 0;
volatile int cntMotorR_Sensor = 0;

void ISR_MotorL_Sensor(){
    if(MotorL_FORWARD)
        cntMotorL_Sensor++;
    else 
        cntMotorL_Sensor--;
}
void ISR_MotorR_Sensor(){
    if(MotorR_FORWARD)
        cntMotorR_Sensor++;
    else 
        cntMotorR_Sensor--;
}

int main() {
    MotorL_Sensor.rise(&ISR_MotorL_Sensor);
    MotorR_Sensor.rise(&ISR_MotorR_Sensor);
    // Richtungen werden bestimmt
    MotorL_FORWARD = MotorR_FORWARD = 1;
    // Periodendauer wird eingestellt
    MotorL_EN.period_ms(10);
    MotorR_EN.period_ms(10);
    MotorL_EN = 0.5f;
    MotorR_EN = 0.0f;
    
    while(1) {
        if(cntMotorL_Sensor < 24){
            if(MotorL_EN != 0.2f) MotorL_EN = 0.2f;
            MotorL_FORWARD = 1;
            MotorL_REVERSE = 0;
        } else if(cntMotorL_Sensor > 24){
            if(MotorL_EN != 0.2f) MotorL_EN = 0.2f;
            MotorL_FORWARD = 0;
            MotorL_REVERSE = 1;
        } else if(MotorL_EN != 0.0f){
            MotorL_EN = 0.0f;
        }
        if(cntMotorR_Sensor < 24){
            if(MotorR_EN != 0.2f) MotorR_EN = 0.2f;
            MotorR_FORWARD = 1;
            MotorR_REVERSE = 0;
        } else if(cntMotorR_Sensor > 24){
            if(MotorR_EN != 0.2f) MotorR_EN = 0.2f;
            MotorR_FORWARD = 0;
            MotorR_REVERSE = 1;
        } else if(MotorR_EN != 0.0f){
            MotorR_EN = 0.0f;
        }
    }
}