File content as of revision 11:be7660614c5c:

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

QEI motor1(D13,D12,NC, 624);//encoder for motor 1
QEI motor2(D11,D10,NC, 624);//encoder for motor 2
MODSERIAL pc(USBTX,USBRX);
DigitalOut direction1(D7);//direction input for motor 1
DigitalOut direction2(D4);//direction input for motor 2
PwmOut speed1(D6);//speed input for motor 1
PwmOut speed2(D5);//speed input for motor 2
DigitalIn button1(PTC6);//test button for starting motor 1
DigitalIn button2(PTA4);//test button for starting motor 2
DigitalOut led1(LED_RED);
DigitalOut led2(LED_BLUE);
DigitalOut led3(LED_GREEN);

int main()
{
   float cycle = 0.7;//define the speed of the motor
   bool motor1_on = 1;//set the on variable of motor 1
   int motor1_dir=0;//set the direction of motor 1
   bool motor2_on =1;//set the on variable of motor 2
   int motor2_dir = 0;//set the direction of motor 1
   int n1=1;
   int n2=1;
   
while(1){
       led3.write(0);
       led1.write(1);
       led2.write(1);
       speed1.write(0);//set motor 1 speed to 0 
       speed2.write(0);//set motor 2 speed to 0
       pc.baud(115200);
       
        int diffa1 = button1.read();//read out the button 1 signal and calculate if it is being pressed or released
        wait(0.2);//from this we can determine if the rotation direction needs to be reversed.
        int diffb1 = button1.read();
        int button_toggle1 = diffa1-diffb1;
        if(button_toggle1 == 1 && motor1_dir == 1){
                motor1_dir = 0;
                }
        else if(button_toggle1 == 1 && motor1_dir == 0){
                motor1_dir = 1;
                }       
       
       if(button1.read()==false){
              while(n1 == 1){
                  speed1.write(cycle);
                  direction1.write(1);//turn motor CCW or CW 
                  led3.write(1);
                  led1.write(0);
                  n1=0;
                  }
                          }
            else if (button1.read() == true){
                while(n1==0){
                    speed1.write(0);
                    n1=1;
                    }
                }
       
       int diffa2 = button2.read();//read out the button 2 signal and calculate if it is being pressed or released
       wait(0.2);//from this we can determine if the rotation direction needs to be reversed.
       int diffb2 = button2.read();
       int button_toggle2 = diffa2-diffb2;
       if(button_toggle2 == 1 && motor2_dir == 1){
                motor2_dir = 0;
                }
        else if(button_toggle2 == 1 && motor2_dir == 0){
                motor2_dir = 1;
                }
    
   //motor CW = 0
   //motor CCW = 1
       if(button1.read()==false){
              while(n2 == 1){
                  speed2.write(cycle);
                  direction2.write(1);//turn motor CCW or CW 
                  led3.write(1);
                  led2.write(0);
                  n2=0;
                  }
                          }
            else if (button1.read() == true){
                while(n2==0){
                    speed1.write(0);
                    n2=1;
                    }
                }                   
}
}