File content as of revision 4:6742476fadcf:

#include "mbed.h"
#include "HIDScope.h"
#include "QEI.h"
#include "MODSERIAL.h"
#include "BiQuad.h"
#include "FastPWM.h"
#include <math.h>

//definieer objecten
Serial pc(USBTX, USBRX);

Ticker myControllerTicker1;
Ticker myControllerTicker2;

AnalogIn potMeter1(A1);
AnalogIn potMeter2(A0);

PwmOut motor1(D6);  
PwmOut motor2(D5);  

DigitalOut motor1_dir(D7);
DigitalOut motor2_dir(D4);

InterruptIn button1(D1);
InterruptIn button2(D2);

//richting wisselen van motor 1
void direction1(void)
    {
        motor1_dir=!motor1_dir;
    }

//richting wisselen van motor 2
void direction2(void)
    {
        motor2_dir=!motor2_dir;
    }


//snelheid motor 1 aansturen
void motor1Controller( )
    {
    // Determine reference (desired) fan speed
        double y1_des = potMeter1.read();
    // Controller (calculate motor torque/pwm)
        if( y1_des > 1 ) y1_des = 1; // y1_des must be <= 1
        if( y1_des < 0 ) y1_des = 0; // y1_des must be >= 0
        double power1 = pow(y1_des, 2.0); // Inverse relation between input and output
    // Send to motor
        motor1.write( power1 );
        pc.printf("power1: %.2f\t",power1);
    }

//snelheid motor 2 aansturen
void motor2Controller( )
    {
    // Determine reference (desired) fan speed
        double y2_des = potMeter2.read();
    // Controller (calculate motor torque/pwm)
        if( y2_des > 1 ) y2_des = 1; // y2_des must be <= 1
        if( y2_des < 0 ) y2_des = 0; // y2_des must be >= 0
        double power2 = pow(y2_des, 2.0); // Inverse relation between input and output
    // Send to motor
        motor2.write( power2 );
        pc.printf("power2: %.2f\n\r",power2);
    }


int main()
    {
        myControllerTicker1.attach(motor1Controller, 0.1 ); // Every 1/10 second
        myControllerTicker2.attach(motor2Controller, 0.1 ); // Every 1/10 second

        button1.mode(PullUp);   
        button1.rise(direction1);
        button2.mode(PullUp);   
        button2.rise(direction2);


        while( true ) { /* do nothing */ }
    return 0;
    }