File content as of revision 3:81d97506bd46:

/*
#include "mbed.h"
#include "QEI.h"
#include "header.h"
int main_old() {
    pid lman, rman;
    lman.kp = .004f;
    lman.ki = .0f;
    lman.kd = .0f;
    rman.kp = .5f;
    rman.ki = .1f;
    rman.kd = .4f;
    
    lpwmf.period(0.01f);
    lpwmf = 0; //Previously started on, replace with lpwmf = lbase to make it start on (not a good idea)
    rpwmf.period(0.01f);
    rpwmf = 0;
    
    
    t_time.start();
        
    pid ir_lman, ir_rman;
    ir_lman.kp = .004f;
    ir_lman.ki = .0f;
    ir_lman.kd = .0f;
    ir_rman.kp = .5f;
    ir_rman.ki = .1f;
    ir_rman.kd = .4f;    
    while(1){       
       float dt = t_time.read();
       t_time.reset();
       float error = (LeftEncoder.getPulses() - RightEncoder.getPulses())/16.0f; //Can be pos or neg, Range from 0 - 255 for one revolution
         if(error == 0){
            resetpid(&lman);
            resetpid(&rman);
          }
        float adjust_l = getFix(&lman, error, dt); 
        LeftIR = 1;
        RightIR = 1;
        float leftread = LeftReceiver.read();
        float rightread = RightReceiver.read();
        float error_IR = (rightread - leftread);
        if(error_IR < 0.02f){
            resetpid(&ir_lman);
            resetpid(&ir_rman);    
        }
        //float adjust_l = getFix(&ir_lman, error, dt);
        lpwmf = constrain(0.0f, 0.3f, lbase + adjust_l);
        rpwmf = rbase+.2f;
    }
}
*/