File content as of revision 8:4f15670bc00b:

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

Ticker motor;

AnalogIn pot1(A1);
AnalogIn pot2(A2);
FastPWM pin5(D5);       // Motor 2 pwm
DigitalOut pin4(D4);    // Motor 2 direction
FastPWM pin6(D6);       // Motor 1 pwm
DigitalOut pin7(D7);    // Motor 1 direction
//float u1  = pot1;

//float rad1 = 1.0/4.0*PI;    // Desired angle of motor 1 (needs to be calculated by the program)
//float nrad1;

void draai(){
    float u1 = 2.0*(pot1 - 0.5);    // Potmeter 1 connects to motor 1
    if (u1>0)                       // Determines direction of motor 1
    {   pin4 = true;
    }
    else
    {   pin4 = false;
    }                           
    pin5 = fabs(u1);                // Determines pwm of motor 1
    
    float u2 = 2.0*(pot2 - 0.5);    // Potmeter 2 connects to motor 2
    if (u2>0)                       // Determines direction of motor 2
    {   pin7 = true;
    }
    else
    {   pin7 = false;
    }  
    pin6 = fabs(u2);                // Determines pwm of motor 2
}
int main(){
    

    while(true)
    {   //nrad1 = rad1/PI;        // Normalised desired angle of motor 1
        pin5.period_us(50);
        motor.attach(draai, 0.001);
        pin6.period_us(50);
        motor.attach(draai, 0.001);      
    }
}